Diff: wheelchair.h

Revision:

23:8d11d953ceeb

Parent:

20:f42db4ae16f0

Child:

24:d2f234fbc20d

--- a/wheelchair.h	Fri Aug 31 20:00:01 2018 +0000
+++ b/wheelchair.h	Tue Oct 16 23:03:40 2018 +0000
@@ -1,37 +1,30 @@
 #ifndef wheelchair
 #define wheelchair
 
+//Importing libraries into wheelchair.h
 #include "chair_BNO055.h"
 #include "PID.h"
 #include "QEI.h"
 #include <ros.h>
 #include <geometry_msgs/Twist.h>
-//#include "BufferedSerial.h"
 
-//#include "chair_MPU9250.h"
-
-#define turn_precision 10
-#define def (2.5f/3.3f)
-#define high 3.3f/3.3f
-#define offset .02742f
-#define low (1.7f/3.3f)
-#define process .1
 
-/* for big mbed board
-#define xDir D12 //top right two pins
-#define yDir D13 //top left two pins
-#define Encoder1 D0
-#define Encoder2 D1
-*/
+/*
+* 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
+#define offset .035f                  //Joystick ajustment to be able to go strait. Chair dependent on manufactoring presision
+#define process .1                      //Defines default time delay in seconds
 
-//for small mbed board
-#define xDir D9
+//Pin plug in for Nucleo-L432KC
+#define xDir D9                         //PWM Pins
 #define yDir D10
-#define Encoder1 D7
+#define Encoder1 D7                     //Digital In Pull Up Pin
 #define Encoder2 D8
 
-#define EncoderReadRate 1200
-#define Diameter 31.75
+#define Diameter 31.75                  //Diameter of encoder wheel
 /** Wheelchair class
  * Used for controlling the smart wheelchair
  */
@@ -47,21 +40,12 @@
     /** move using the joystick */
     void move(float x_coor, float y_coor);
     
-    /* turn right a certain amount of degrees (overshoots)*/
-    double turn_right(int deg);
-    
-    /* turn left a certain amount of degrees (overshoots)*/
-    double turn_left(int deg);
-    
     /* 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);
     
-    /* turning function that turns any direction */
-    void turn(int deg);
-    
     /* drive the wheelchair forward */
     void forward();
     
@@ -79,23 +63,35 @@
     
     /* function to get imu data*/
     void compass_thread();
-    void distance_thread();
+    
+    /* move x millimiters foward using PID*/
     void pid_forward(double mm);
+    
+    /* move x millimiters reverse using PID*/
     void pid_reverse(double mm);
+    
+    /*  gets the encoder distance moved since encoder reset*/
     float getDistance();
+    
+    /* resets encoder*/
     void resetDistance();
+    
+    /* function to to determine whether we are turning left or right*/
     void pid_turn(int deg);
+    
+    /* functions with a predetermined path demmo*/
     void desk();
     void kitchen();
     void desk_to_kitchen();
 private:
+    /* Pointers for the joystick speed*/
     PwmOut* x;
     PwmOut* y;
-    chair_BNO055* imu;
-    Serial* out;
-    Timer* tim;
-    Timer* ti;
-    QEI* wheel;
+    
+    chair_BNO055* imu;                  // Pointer to IMU
+    Serial* out;                        // Pointer to Serial Monitor
+    Timer* ti;                          // Pointer to the timer
+    QEI* wheel;                         // Pointer to encoder
 
 };
 #endif
\ No newline at end of file