Cooper Liu / Mbed 2 deprecated ICRSEurobot13

Colour sensors calibrated

Dependencies:   mbed-rtos mbed Servo QEI

Fork of ICRSEurobot13 by Thomas Branch

Processes/Kalman/Kalman.h@19:4b993a9a156e, 2013-04-07 (annotated)

Committer:
madcowswe
Date:
Sun Apr 07 19:26:07 2013 +0000
Revision:
19:4b993a9a156e
Parent:
16:52250d8d8fce
Child:
20:70d651156779
Kalman init almost ready for testing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 16:52250d8d8fce 1 #ifndef KALMAN_H
madcowswe 16:52250d8d8fce 2 #define KALMAN_H
madcowswe 16:52250d8d8fce 3
madcowswe 16:52250d8d8fce 4 //#include "globals.h"
madcowswe 16:52250d8d8fce 5
madcowswe 16:52250d8d8fce 6 namespace Kalman
madcowswe 16:52250d8d8fce 7 {
madcowswe 16:52250d8d8fce 8
madcowswe 16:52250d8d8fce 9 typedef struct state {
madcowswe 16:52250d8d8fce 10 float x;
madcowswe 16:52250d8d8fce 11 float y;
madcowswe 16:52250d8d8fce 12 float theta;
madcowswe 16:52250d8d8fce 13 } state ;
madcowswe 16:52250d8d8fce 14
madcowswe 16:52250d8d8fce 15 //Accessor function to get the state as one consistent struct
madcowswe 16:52250d8d8fce 16 state getState();
madcowswe 16:52250d8d8fce 17
madcowswe 16:52250d8d8fce 18 //Main loops (to be attached as a thread in main)
madcowswe 16:52250d8d8fce 19 void predictloop(void* dummy);
madcowswe 16:52250d8d8fce 20 void updateloop(void* dummy);
madcowswe 16:52250d8d8fce 21
madcowswe 16:52250d8d8fce 22
madcowswe 16:52250d8d8fce 23 enum measurement_t {SONAR0 = 0, SONAR1, SONAR2, IR0, IR1, IR2};
madcowswe 19:4b993a9a156e 24 const measurement_t maxmeasure = IR2;
madcowswe 16:52250d8d8fce 25
madcowswe 16:52250d8d8fce 26 //Call this to run an update
madcowswe 16:52250d8d8fce 27 void runupdate(measurement_t type, float value, float variance);
madcowswe 16:52250d8d8fce 28
madcowswe 16:52250d8d8fce 29 extern float RawReadings[maxmeasure+1];
madcowswe 19:4b993a9a156e 30 extern float IRpahseOffset;
madcowswe 16:52250d8d8fce 31
madcowswe 16:52250d8d8fce 32 extern bool Kalman_init;
madcowswe 16:52250d8d8fce 33
madcowswe 16:52250d8d8fce 34 //Initialises the kalman filter
madcowswe 16:52250d8d8fce 35 void KalmanInit();
madcowswe 16:52250d8d8fce 36
madcowswe 16:52250d8d8fce 37 // reset kalman states
madcowswe 16:52250d8d8fce 38 void KalmanReset();
madcowswe 16:52250d8d8fce 39 }
madcowswe 16:52250d8d8fce 40
madcowswe 16:52250d8d8fce 41 #endif //KALMAN_H