Affordable Smart Wheelchair / wheelchaircontrol8

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Dependencies:   QEI2 PID Watchdog VL53L1X_Filter BNOWrapper ros_lib_kinetic

Dependents:   Version1-8

wheelchair.h

Committer:
ryanlin97
Date:
2018-07-20
Revision:
6:0cd57bdd8fbc
Parent:
5:e0ccaab3959a
Child:
7:5e38d43fbce3

File content as of revision 6:0cd57bdd8fbc:

#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 .05
#define xDir D12 //top right two pins
#define yDir D13 //top left two pins

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

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

};
#endif