Diff: wheelchair.h

Revision:

28:ad02cb329fe3

Parent:

27:0b1a837f123c

--- a/wheelchair.h	Thu Jun 27 18:08:29 2019 +0000
+++ b/wheelchair.h	Fri Jun 28 19:35:51 2019 +0000
@@ -14,7 +14,7 @@
 
 /*
 * Joystick has analog out of 200-700, scale values between 1.3 and 3.3
-*/             
+*/
 #define def (2.5f/3.3f)                 //Default axis on joystick to stay neutral; used on x and y axis
 #define high 3.3f/3.3f                  //High power on joystick; used on x and y axis
 #define low (1.7f/3.3f)                 //Low power on joystick; used on x and y axis
@@ -31,7 +31,6 @@
 #define maxDecelerationFast 30
 #define ToFSensorNum 12
 
-
 /** Wheelchair class
  * Used for controlling the smart wheelchair
  */
@@ -43,86 +42,91 @@
      * serial for printout, and timer
      */
     Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* wheel, QEI* wheelS,
-     VL53L1X** ToF);
-    
+               VL53L1X** ToF);
+
     /** Move using the joystick */
     void move(float x_coor, float y_coor);
-    
+
     /* Turn right a certain amount of degrees using PID*/
     void pid_right(int deg);
-    
+
     /* Turn left a certain amount of degrees using PID*/
     void pid_left(int deg);
-    
+
     /* Drive the wheelchair forward */
     void forward();
-    
+
     /* Drive the wheelchair in reverse*/
     void backward();
-    
+
     /* Turn the wheelchair right*/
     void right();
-    
+
     /* Turn the wheelchair left*/
     void left();
-    
+
     /* Stop the wheelchair*/
     void stop();
-    
+
     /* Functions to get IMU data*/
     void compass_thread();
     void velocity_thread();
     void rosCom_thread();
     void assistSafe_thread();
     void emergencyButton_thread();
-    
+
     /* Move x millimiters foward using PID*/
     void pid_forward(double mm);
-    
+
     /* Obtain angular position for Twist message */
     double getTwistZ();
-    
+
     /*  Gets the encoder distance moved since encoder reset*/
     float getDistance();
-    
+
     /* Resets encoder*/
     void resetDistance();
-    
+
     /* Function to determine whether we are turning left or right*/
     void pid_turn(int deg);
-    
+
     /* Function to obtain angular and linear velocity */
     void pid_twistA();
     void pid_twistV();
-    
+
     /* Function to publish and show Odometry message */
     void odomMsg();
     void showOdom();
-    
+
     /* Functions with a predetermined path (demo) */
     void desk();
     void kitchen();
     void desk_to_kitchen();
-    
+
     /* Variables for postion, angle, and velocity */
     double x_position;
     double y_position;
-    double z_angular;   
+    double z_angular;
     double curr_vel;
     double z_twistA;
     double linearV;
     double angularV;
     double vel;
-    double test1, test2;  
+    double test1, test2;
     bool forwardSafety;
     double curr_yaw, curr_velS;                                                            // Variable that contains current relative angle
 
-    
+
 private:
     /* Pointers for the joystick speed */
     PwmOut* x;
     PwmOut* y;
+    //Pointers for PCB
+    PwmOut* on;
+    PwmOut* off;
     
+    DigitalIn* e_button;                //Pointer to e_button
+
     chair_BNO055* imu;                  // Pointer to IMU
     Serial* out;                        // Pointer to Serial Monitor
     Timer* ti;                          // Pointer to the timer
@@ -130,6 +134,6 @@
     QEI* wheelS;                        // Pointer to encoder
     VL53L1X** ToF;                      // Arrays of pointers to ToF sensors
 
-    
+
 };
 #endif
\ No newline at end of file