1 files changed, 27 insertions, 0 deletions
diff --git a/src/modules/segway/BlockSegwayController.hpp b/src/modules/segway/BlockSegwayController.hpp
new file mode 100644
index 000000000..4a01f785c
--- /dev/null
+++ b/src/modules/segway/BlockSegwayController.hpp
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <controllib/uorb/blocks.hpp>
+
+using namespace control;
+
+class BlockSegwayController : public control::BlockUorbEnabledAutopilot {
+public:
+	BlockSegwayController() :
+		BlockUorbEnabledAutopilot(NULL,"SEG"),
+		th2v(this, "TH2V"),
+		q2v(this, "Q2V"),
+		_attPoll(),
+		_timeStamp(0)
+	{
+		_attPoll.fd = _att.getHandle();
+		_attPoll.events = POLLIN;
+	}
+	void update();
+private:
+	enum {CH_LEFT, CH_RIGHT};
+	BlockPI th2v;
+	BlockP q2v;
+	struct pollfd _attPoll;
+	uint64_t _timeStamp;
+};
+