Working file for communication with ROS
Dependencies: QEI2 chair_BNO055 PID VL53L1X_Filter
Dependents: wheelchaircontrolrealRosCom
Diff: wheelchair.h
- Revision:
- 26:c842070aa0b8
- Parent:
- 21:3489cffad196
--- a/wheelchair.h Fri Apr 19 23:06:53 2019 +0000 +++ b/wheelchair.h Sat May 25 03:32:36 2019 +0000 @@ -18,7 +18,7 @@ #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 -#define offset .035f //Joystick adjustment to be able to go straight. Chair dependent on manufactoring precision +#define offset .03f //Joystick adjustment to be able to go straight. Chair dependent on manufactoring precision #define process .1 //Defines default time delay in seconds /* Pin plug in for Nucleo-L432KC */ @@ -27,8 +27,8 @@ #define Encoder1 D7 //*Digital In Pull Up Pin */ #define Encoder2 D8 #define Diameter 31.75 //Diameter of encoder wheel -#define maxDeceleration 130 - +#define maxDecelerationSlow 130 +#define maxDecelerationFast 30 #define ToFSensorNum 12