Diff: Kalman.cpp

Revision:

1:4964fa534202

Parent:

0:e238496b8073

Child:

2:8aa491f77a0b

--- a/Kalman.cpp	Thu Apr 26 19:11:11 2012 +0000
+++ b/Kalman.cpp	Thu Apr 26 19:28:32 2012 +0000
@@ -14,9 +14,32 @@
 #include <tvmet/Vector.h>
 using namespace tvmet;
 
-Kalman::Kalman(Motors &motorsin) :
+Kalman::Kalman(Motors &motorsin,
+   PinName Sonar_Trig,
+   PinName Sonar_Echo0,
+   PinName Sonar_Echo1,
+   PinName Sonar_Echo2,
+   PinName Sonar_Echo3,
+   PinName Sonar_Echo4,
+   PinName Sonar_Echo5,
+   PinName Sonar_SDI,
+   PinName Sonar_SDO,
+   PinName Sonar_SCK,
+   PinName Sonar_NCS,
+   PinName Sonar_NIRQ) :
         ir(*this),
-        sonararray(p10,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9),
+        sonararray(Sonar_Trig,
+        Sonar_Echo0,
+        Sonar_Echo1,
+        Sonar_Echo2,
+        Sonar_Echo3,
+        Sonar_Echo4,
+        Sonar_Echo5,
+        Sonar_SDI,
+        Sonar_SDO,
+        Sonar_SCK,
+        Sonar_NCS,
+        Sonar_NIRQ),
         motors(motorsin),
         predictthread(predictloopwrapper, this, osPriorityNormal, 512),
         predictticker( SIGTICKARGS(predictthread, 0x1) ),