Christian Burri / Mbed 2 deprecated autonomous Robot Android

This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf

Dependencies:   mbed

Fork of autonomous Robot Android by Christian Burri

Diff: Actuators/Hallsensor.h

Revision:
6:48eeb41188dd
Parent:
3:92ba0254af87
Child:
11:775ebb69d5e1
--- a/Actuators/Hallsensor.h	Thu Mar 21 08:56:53 2013 +0000
+++ b/Actuators/Hallsensor.h	Sat Mar 23 13:52:48 2013 +0000
@@ -14,11 +14,30 @@
  * @section DESCRIPTION
  *
  * Interface to count the Hallsensor input from a EC-Motor.
- * 
+ *
  */
 class Hallsensor
 {
 
+private:
+
+    /**
+     * Update the pulse count.
+     * Called on every rising/falling edge of Hall 1-3.
+     * Reads the state of the channels and determines whether a pulse forward
+     * or backward has occured, updating the count appropriately.
+     */
+    void encode(void);
+
+    InterruptIn hall1_;
+    InterruptIn hall2_;
+    InterruptIn hall3_;
+
+    int          prevState_;
+    int          currState_;
+
+    volatile int pulses_;
+
 public:
 
     /**
@@ -52,25 +71,6 @@
      */
     int getRevolutions(void);
 
-private:
-
-    /**
-     * Update the pulse count.
-     * Called on every rising/falling edge of Hall 1-3.
-     * Reads the state of the channels and determines whether a pulse forward
-     * or backward has occured, updating the count appropriately.
-     */
-    void encode(void);
-
-    InterruptIn hall1_;
-    InterruptIn hall2_;
-    InterruptIn hall3_;
-
-    int          prevState_;
-    int          currState_;
-
-    volatile int pulses_;
-
 };
 
 #endif /* Hallsensor_H */