Affordable Smart Wheelchair / wheelchaircontrol1-6

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Dependencies:   QEI2 PID IMU6050Ver11 Watchdog VL53L1X_Filter ros_lib_kinetic

Dependents:   Version1-6 Version1-7

wheelchair.h

Committer:
ryanlin97
Date:
2018-07-23
Revision:
10:e5463c11e0a0
Parent:
7:5e38d43fbce3
Child:
11:d14a1f7f1297

File content as of revision 10:e5463c11e0a0:

#ifndef wheelchair
#define wheelchair

//#include "chair_BNO055.h"
#include "chair_MPU9250.h"

#define def (2.5f/3.3f)
#define high 3.3f
#define offset .02f
#define low (1.7f/3.3f)
#define process .1
#define xDir D12 //top right two pins
#define yDir D13 //top left two pins

class Wheelchair
{
public:
    Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time);
    void move(float x_coor, float y_coor);
    void turn_right();
    void turn_left();
    void forward();
    void backward();
    void right();
    void left();
    void stop();

private:
    PwmOut* x;
    PwmOut* y;
    //chair_BNO055* imu;
    chair_MPU9250* imu;
    Serial* out;

};
#endif