Diff: Kalman.h

Revision:

2:8aa491f77a0b

Parent:

1:4964fa534202

--- a/Kalman.h	Thu Apr 26 19:28:32 2012 +0000
+++ b/Kalman.h	Thu Apr 26 20:11:48 2012 +0000
@@ -9,6 +9,7 @@
 #include "motors.h"
 #include "RFSRF05.h"
 #include "IR.h"
+#include "ui.h"
 
 #include <tvmet/Matrix.h>
 #include <tvmet/Vector.h>
@@ -21,6 +22,7 @@
     static const measurement_t maxmeasure = IR3;
 
     Kalman(Motors &motorsin,
+           UI &uiin,
            PinName Sonar_Trig,
            PinName Sonar_Echo0,
            PinName Sonar_Echo1,
@@ -32,7 +34,9 @@
            PinName Sonar_SDO,
            PinName Sonar_SCK,
            PinName Sonar_NCS,
-           PinName Sonar_NIRQ);
+           PinName Sonar_NIRQ,
+           PinName IR_Tx,
+           PinName IR_Rx);
 
     void predict();
     void runupdate(measurement_t type, float value, float variance);
@@ -59,6 +63,7 @@
     //Sensor interfaces
     RFSRF05 sonararray;
     Motors& motors;
+    UI& ui;
 
     Thread predictthread;
     void predictloop();