Diff: wheelchair.h

Revision:

41:1a687bcf4b0a

Parent:

37:e0e6d3fe06a2

Child:

42:62c49ad06707

--- 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