David Grayson / Mbed 2 deprecated LineFollowing

David's line following code from the LVBots competition, 2015.

Dependencies:   GeneralDebouncer Pacer PololuEncoder mbed

Fork of DeadReckoning by David Grayson

Diff: turn_sensor.h

Revision:
44:edcacba44760
Child:
50:517c0f0e621f
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turn_sensor.h	Wed Apr 15 19:14:39 2015 +0000
@@ -0,0 +1,35 @@
+#pragma once
+
+#include <mbed.h>
+
+class TurnSensor
+{
+    // TODO: for production code, you would want a way to set the gyro offset
+
+    public:
+
+    void start();
+    void update();
+    
+    int32_t getAngle()
+    {
+        return (int32_t)angleUnsigned;
+    }
+    
+    int16_t getAngleDegrees()
+    {
+        return (((int32_t)angleUnsigned >> 16) * 360) >> 16;
+    }
+    
+    int16_t getRate()
+    {
+        return rate;
+    }
+    
+    private:
+
+    Timer timer;
+    uint32_t angleUnsigned;
+    int16_t rate;
+    uint16_t gyroLastUpdate;
+};
\ No newline at end of file