Revised for integration
Dependencies: QEI2 chair_BNO055 PID VL53L1X_Filter
Diff: wheelchair.h
- Revision:
- 28:10f7c073040b
- Parent:
- 26:e06e67411fc9
diff -r d52b53419aeb -r 10f7c073040b wheelchair.h --- a/wheelchair.h Wed Jun 26 22:58:33 2019 +0000 +++ b/wheelchair.h Thu Jun 27 00:14:26 2019 +0000 @@ -15,18 +15,18 @@ /* * 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 adjustment to be able to go straight. Chair dependent on manufactoring precision -#define process .1 //Defines default time delay in seconds +#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 adjustment to be able to go straight. Chair dependent on manufactoring precision +#define process .1 // Defines default time delay in seconds /* Pin plug in for Nucleo-L432KC */ -#define xDir PA_6 //* PWM Pins */ +#define xDir PA_6 // PWM Pins #define yDir PA_5 -#define Encoder1 D7 //*Digital In Pull Up Pin */ +#define Encoder1 D7 // Digital In Pull Up Pin #define Encoder2 D8 -#define Diameter 31.75 //Diameter of encoder wheel +#define Diameter 31.75 // Diameter of encoder wheel #define maxDeceleration 130 #define ToFSensorNum 12