Working file for communication with ROS
Dependencies: QEI2 chair_BNO055 PID VL53L1X_Filter
Dependents: wheelchaircontrolrealRosCom
Diff: wheelchair.cpp
- Revision:
- 3:a5e71bfdb492
- Parent:
- 1:c0beadca1617
- Child:
- 4:29a27953fe70
diff -r c2d049efc266 -r a5e71bfdb492 wheelchair.cpp --- a/wheelchair.cpp Thu Jul 12 20:51:54 2018 +0000 +++ b/wheelchair.cpp Mon Jul 16 20:46:42 2018 +0000 @@ -2,18 +2,24 @@ Wheelchair::Wheelchair(PinName xPin, PinName yPin) { - x = new AnalogOut(xPin); - y = new AnalogOut(yPin); + x = new PwmOut(xPin); + y = new PwmOut(yPin); } - -void Wheelchair::move(float degrees) +/* +* joystick has analog out of 200-700, scale values between 1.3 and 3.3 +*/ +void Wheelchair::move(float x_coor, float y_coor) { + printf("x is %f y is %f \n", 1.6*x_coor + 2.5, 1.6*y_coor + 2.5 + offset); + x->write(1.6*x_coor + 2.5); + y->write(1.6*y_coor + 2.5 + offset); + } void Wheelchair::forward() { x->write(high); - y->write(def); + y->write(def+offset); } void Wheelchair::backward()