![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Fully integrated ToF/IMU codes
Dependencies: QEI2 PID Watchdog VL53L1X_Filter ros_lib_kinetic
Diff: main.cpp
- Revision:
- 21:d1faccb96146
- Parent:
- 17:770a161346ed
--- a/main.cpp Tue Jul 02 21:17:03 2019 +0000 +++ b/main.cpp Tue Jul 09 17:52:32 2019 +0000 @@ -47,9 +47,12 @@ &sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12}; // Puts ToF sensor pointers into an array VL53L1X** ToFT = ToF; +Timer imuTimer; +IMUWheelchair IMU(&pc,&imuTimer); //initialize IMU + Timer t; // Initialize time object t EventQueue queue; // Class to organize threads -Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS, ToFT); // Initialize wheelchair object +Wheelchair smart(xDir,yDir, &pc, &t, &imuTimer, &wheel, &wheelS, ToFT); // Initialize wheelchair object Thread compass; // Thread for compass Thread velocity; // Thread for velosity Thread ToFSafe; // Thread for safety stuff