Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
updater.h
00001 #ifndef __SCHEDULER_H 00002 #define __SCHEDULER_H 00003 00004 /** Updater is the main real time sensor update, estimation, and control routine that is 00005 * called at 100Hz by a timer interrupt 00006 */ 00007 00008 /** Returns the elapsed time taken by the updater routine on its most recent run */ 00009 int getUpdateTime(void); 00010 00011 /** Indicates to the updater that the vehicle should begin its run */ 00012 void beginRun(void); 00013 00014 /** Indicates to the updater that the vehicle should abort its run */ 00015 void endRun(void); 00016 00017 /** Tells the updater to re-initialize the navigation state */ 00018 void restartNav(void); 00019 00020 /** The function that is called at 100Hz. It reads sensors, performs estimation, and controls the robot */ 00021 void update(void); 00022 00023 #endif
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