Added Back ToF code
Dependencies: QEI2 PID IMU6050Ver11 Watchdog VL53L1X_Filter ros_lib_kinetic
Dependents: Version1-6 Version1-7
Diff: wheelchair.h
- Revision:
- 27:da718b990837
- Parent:
- 26:662693bd7f31
- Child:
- 28:6d6bd8ad04dc
diff -r 662693bd7f31 -r da718b990837 wheelchair.h --- a/wheelchair.h Thu Jun 27 16:32:12 2019 +0000 +++ b/wheelchair.h Fri Jun 28 21:16:26 2019 +0000 @@ -6,6 +6,7 @@ #include "PID.h" #include "QEI.h" #include "VL53L1X.h" +#include "statistics.h" #include <ros.h> #include <geometry_msgs/Twist.h> @@ -116,9 +117,13 @@ double test1, test2; bool forwardSafety; double curr_yaw, curr_velS; // Variable that contains current relative angle - private: + int runningAverage[4]; + + int ledgeArrayLF[100]; + int ledgeArrayRF[100]; + /* Pointers for the joystick speed */ PwmOut* x; PwmOut* y;