Affordable Smart Wheelchair / Mbed OS Version1-2

Fully integrated ToF/IMU codes

Dependencies:   QEI2 PID Watchdog VL53L1X_Filter ros_lib_kinetic

Diff: main.cpp

Revision:
21:d1faccb96146
Parent:
17:770a161346ed
diff -r 3c1b58654e67 -r d1faccb96146 main.cpp
--- 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