Revision 41:1a687bcf4b0a, committed 2019-07-11

Comitter:

t1jain

Date:

Thu Jul 11 20:58:26 2019 +0000

Parent:

40:11b8567c507b

Commit message:

Cleaned up code

Changed in this revision

--- a/wheelchair.cpp	Thu Jul 11 18:38:03 2019 +0000
+++ b/wheelchair.cpp	Thu Jul 11 20:58:26 2019 +0000
@@ -104,11 +104,11 @@
     ledgeArrayLF[k] = (*(ToF+1))->readFromOneSensor();
     ledgeArrayRF[k] = (*(ToF+4))->readFromOneSensor();
 
-    /*for(int i = 0; i < 100; i++)
+    /* for(int i = 0; i < 100; i++)
     {
         out->printf("%d, ",ledgeArrayRF[i]);
     }
-    out->printf("\r\n");*/
+    out->printf("\r\n"); */
 
     outlierToF[0] = LFTStats.mean() + 2*LFTStats.stdev();
     outlierToF[1] = RFTStats.mean() + 2*RFTStats.stdev();
@@ -148,12 +148,6 @@
         forwardSafety = 0;
     
     ////////////////////////////////////////////////////////////////////////////
-    
-//        k2++;
-//    
-//        if (k2 == 150) {
-//            k2 = 0;
-//        }
 
     ledgeArrayLB[k] = (*(ToF+1))->readFromOneSensor();
     ledgeArrayRB[k] = (*(ToF+4))->readFromOneSensor();
@@ -194,8 +188,7 @@
 
     else
         backwardSafety = 0;
-    
-    
+        
     ////////////////////////////////////////////////////////////////////////////
 
     /*Side Tof begin*/

--- a/wheelchair.h	Thu Jul 11 18:38:03 2019 +0000
+++ b/wheelchair.h	Thu Jul 11 20:58:26 2019 +0000
@@ -41,11 +41,11 @@
 /*************************************************************************
 *IMU definitions for turning wheelchair
 **************************************************************************/
-#define WheelchairRadius 80 //distance from IMU to edge of wheelchair(cm)
-#define  maxAngularDeceleration 1.04 //found through testing, max 
-                                     //acceleration at which chair can 
-                                     //stop while turning. In rads per sec
-#define minWallLength 10 // minimum distance from wall to ToF (cm)
+#define WheelchairRadius 80             //distance from IMU to edge of wheelchair(cm)
+#define  maxAngularDeceleration 1.04    //found through testing, max 
+                                        //acceleration at which chair can 
+                                        //stop while turning. In rads per sec
+#define minWallLength 10                // minimum distance from wall to ToF (cm)
 /*************************************************************************
 *                                                                        *
 *                         Wheelchair class                               *
@@ -217,10 +217,10 @@
     double vel;
     double test1, test2;
     bool forwardSafety;
-    bool backwardSafety;//Check if can move backward
-    bool leftSafety; //to check if can turn left
-    bool rightSafety; //to check if can turn right
-    double curr_yaw, curr_velS;// Variable that contains current relative angle
+    bool backwardSafety;        //Check if can move backward
+    bool leftSafety;            //to check if can turn left
+    bool rightSafety;           //to check if can turn right
+    double curr_yaw, curr_velS; // Variable that contains current relative angle
 
 private:
     /************************************************************************
@@ -238,9 +238,9 @@
     PwmOut* on;
     PwmOut* off;
 
-    DigitalIn* e_button;                //Pointer to e_button
+    DigitalIn* e_button;                // Pointer to e_button
 
-    IMUWheelchair* imu;                  // Pointer to IMU
+    IMUWheelchair* imu;                 // Pointer to IMU
     Serial* out;                        // Pointer to Serial Monitor
     Timer* ti;                          // Pointer to the timer
     QEI* wheel;                         // Pointer to encoder