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

turn_sensor.h

Committer:
DavidEGrayson
Date:
2015-04-15
Revision:
44:edcacba44760
Child:
50:517c0f0e621f

File content as of revision 44:edcacba44760:

#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;
};