File content as of revision 23:8d11d953ceeb:

#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>


/*
* 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

//Pin plug in for Nucleo-L432KC
#define xDir D9                         //PWM Pins
#define yDir D10
#define Encoder1 D7                     //Digital In Pull Up Pin
#define Encoder2 D8

#define Diameter 31.75                  //Diameter of encoder wheel
/** Wheelchair class
 * Used for controlling the smart wheelchair
 */

class Wheelchair
{
public:
    /** Create Wheelchair Object with x,y pin for analog dc output
     * serial for printout, and timer
     */
    Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* wheel);
    
    /** move using the joystick */
    void move(float x_coor, float y_coor);
    
    /* 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);
    
    /* drive the wheelchair forward */
    void forward();
    
    /* drive the wheelchair backward*/
    void backward();
    
    /* turn the wheelchair right*/
    void right();
    
    /* turn the wheelchair left*/
    void left();
    
    /* stop the wheelchair*/
    void stop();
    
    /* function to get imu data*/
    void compass_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;                  // Pointer to IMU
    Serial* out;                        // Pointer to Serial Monitor
    Timer* ti;                          // Pointer to the timer
    QEI* wheel;                         // Pointer to encoder

};
#endif