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

Committer:
madcowswe
Date:
2013-04-07
Revision:
16:52250d8d8fce
Child:
19:4b993a9a156e

File content as of revision 16:52250d8d8fce:

#ifndef KALMAN_H
#define KALMAN_H

//#include "globals.h"

namespace Kalman
{

typedef struct state {
    float x;
    float y;
    float theta;
} state ;

//Accessor function to get the state as one consistent struct
state getState();

//Main loops (to be attached as a thread in main)
void predictloop(void* dummy);
void updateloop(void* dummy);


enum measurement_t {SONAR0 = 0, SONAR1, SONAR2, IR0, IR1, IR2};
const measurement_t maxmeasure = IR3;

//Call this to run an update
void runupdate(measurement_t type, float value, float variance);

extern float RawReadings[maxmeasure+1];
extern float SensorOffsets[maxmeasure+1];

extern bool Kalman_init;

//Initialises the kalman filter
void KalmanInit();

// reset kalman states
void KalmanReset();
}

#endif //KALMAN_H