Revision b4885314 include/amiro/Odometry.h

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include/amiro/Odometry.h
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#define AMIRO_ODOMETRY_H_
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#include <amiro/MotorControl.h>


  		




  
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#include <amiro/gyro/l3g4200d.hpp>


  		




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#include <Types.h> // types::position


  		




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     * Constructor


  		




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     *


  		




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     * @param mi object for retrieving the motor increments of the qei


  		




  
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     * @param gyro object for retrieving the gyroscope data


  		




  
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     * @param mc object for retrieving calibration parameters


  		




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     */


  		




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    Odometry(MotorIncrements* mi);


  		




  
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    Odometry(MotorIncrements* mi, L3G4200D* gyroscope);


  		




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    /**


  		




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     * Set the position of the roboter


  		




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     */


  		




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    void updateOdometry();


  		




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    MotorIncrements* motorIncrements;


  		




  
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    MotorIncrements* motorIncrements; // QEI driver


  		




  
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    L3G4200D* gyro;  // Gyroscope driver


  		




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    chibios_rt::EvtSource eventSource;


  		




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    const unsigned int period;


  		




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    int incrementsPerRevolution;


  		












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