Working file for communication with ROS
Dependencies: QEI2 PID VL53L1X_Filter
Diff: wheelchair.h
- Revision:
- 12:921488918749
- Parent:
- 11:d14a1f7f1297
- Child:
- 14:9caca9fde9b0
--- a/wheelchair.h Wed Aug 01 22:39:22 2018 +0000 +++ b/wheelchair.h Thu Aug 09 16:36:46 2018 +0000 @@ -2,40 +2,80 @@ #define wheelchair #include "chair_BNO055.h" +#include "PID_v1.h" +#include "QEI.h" + //#include "chair_MPU9250.h" #define turn_precision 10 #define def (2.5f/3.3f) -#define high 3.3f +#define high 3.3f/3.3f #define offset .02f #define low (1.7f/3.3f) #define process .1 #define xDir D12 //top right two pins #define yDir D13 //top left two pins - +#define Encoder1 D0 +#define Encoder2 D1 +#define EncoderReadRate 1200 +#define Diameter 31.75 +/** 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); + + /** move using the joystick */ void move(float x_coor, float y_coor); + + /* turn right a certain amount of degrees (overshoots)*/ double turn_right(int deg); + + /* turn left a certain amount of degrees (overshoots)*/ double turn_left(int deg); + + /* 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); + + /* turning function that turns any direction */ void turn(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(); - chair_BNO055* imu; - + float getDistance(); + void resetDistance(); + void pid_turn(int deg); + private: PwmOut* x; PwmOut* y; - //chair_BNO055* imu; - //chair_MPU9250* imu; + chair_BNO055* imu; Serial* out; Timer* ti; + QEI* wheel; }; #endif \ No newline at end of file