Jesi Miranda / wheelchaircontrol_jesi

Working file for communication with ROS

Dependencies:   QEI2 PID VL53L1X_Filter

Diff: wheelchair.cpp

Revision:
27:302d03ee1ae0
Parent:
26:c842070aa0b8
Child:
29:5714715ab1f5
--- a/wheelchair.cpp	Sat May 25 03:32:36 2019 +0000
+++ b/wheelchair.cpp	Tue Jun 25 17:54:15 2019 +0000
@@ -389,7 +389,7 @@
     double temporS = def+offset;
     vDesiredS = 0;
     x->write(def);
-    y->write(def+offset);
+    y->write(def);
     wheel->reset();                                                                     // Resets the encoders
     /* Sets the constants for P and D */
     PIDVelosity.SetTunings(.0005,0, 0.00);                                             
@@ -405,7 +405,7 @@
  
     while(1)
     {
-        //linearV = smart.linearV;
+        //commandRead.linear.x = .7;
         test1 = linearV*100;
         vel = curr_vel;
         vDesired = linearV*100;