From dc542b2a4818bfc1c3c1cd24c5ee513d5b5ea0c4 Mon Sep 17 00:00:00 2001
From: James Goppert <james.goppert@gmail.com>
Date: Sun, 28 Jul 2013 22:27:05 -0400
Subject: Segway stabilized.

---
 src/modules/segway/BlockSegwayController.hpp | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

(limited to 'src/modules/segway/BlockSegwayController.hpp')

diff --git a/src/modules/segway/BlockSegwayController.hpp b/src/modules/segway/BlockSegwayController.hpp
index b16d38338..e2faa4916 100644
--- a/src/modules/segway/BlockSegwayController.hpp
+++ b/src/modules/segway/BlockSegwayController.hpp
@@ -8,11 +8,20 @@ class BlockSegwayController : public control::BlockUorbEnabledAutopilot {
 public:
 	BlockSegwayController() :
 		BlockUorbEnabledAutopilot(NULL,"SEG"),
-		phi2spd(this, "PHI2SPD")
+		theta2spd(this, "THETA2SPD"),
+		q2spd(this, "Q2SPD"),
+		_attPoll(),
+		_timeStamp(0)
 	{
+		_attPoll.fd = _att.getHandle();
+		_attPoll.events = POLLIN;
 	}
 	void update();
 private:
-	BlockP phi2spd;
+	enum {CH_LEFT, CH_RIGHT};
+	BlockPI theta2spd;
+	BlockP q2spd;
+	struct pollfd _attPoll;
+	uint64_t _timeStamp;
 };
 
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