WheelSpeed.h

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#ifndef RENSSELAERMOTORSPORT_WHEELSPEED_H
#define RENSSELAERMOTORSPORT_WHEELSPEED_H
 
#include "../DigitalSensor.h"
#include "../../Utils/WheelLocation.h"
 
typedef struct {
    DigitalSensor base;
    WHEEL_LOCATION wheel_location;
    float speed;
    float radius;
    float interval;
    int numTeeth;
    int pulses;
} WheelSpeed;
 
void initWheelSpeed(WheelSpeed* ws, int hz, int port, float radius, int numTeeth,
                    WHEEL_LOCATION location);
float calculateSpeed(WheelSpeed* ws);
 
void updateWheelSpeed(void* ws);
 
void setTimeInterval(WheelSpeed* ws, float interval);
 
void addPulse(WheelSpeed* wf, int num);
 
#endif // RENSSELAERMOTORSPORT_WHEELSPEED_H