Diff: wheelchair.h

Revision:

31:9283c8cd5362

Parent:

29:5714715ab1f5

--- a/wheelchair.h	Fri Jul 05 19:41:35 2019 +0000
+++ b/wheelchair.h	Tue Aug 20 22:24:17 2019 +0000
@@ -23,6 +23,7 @@
 #define low (1.7f/3.3f)                 //Low power on joystick; used on x and y axis
 #define offset .03f                    //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/Compatible with Nucleo-400 series (F767ZI)*
 **************************************************************************/
@@ -93,10 +94,17 @@
     *   wheechair using the encoder values this is being obatined.           *
     ************************************************************************ */
     void velocity_thread();
-
-    //not being used
+    
+    
+    /*_----------------------------------------------------------------------------*/
+    /*_----------------------------------------------------------------------------*/
+    /*_----------------------------------------------------------------------------*/
     void rosCom_thread();
-    //void tof_encoder_roscom_thread();
+    /*_----------------------------------------------------------------------------*/
+    /*_----------------------------------------------------------------------------*/
+    /*_----------------------------------------------------------------------------*/
+    
+    
     /*************************************************************************
     *   This method is a thread that iterates through all the sensor's       *
     *   values and determines whether or not the wheelchair is about to hit  *
@@ -215,6 +223,7 @@
     double dist_new;
     double dist_newS;
     
+
 private:
     /* Pointers for the joystick speed */
     PwmOut* x;
@@ -226,6 +235,7 @@
     QEI* wheel;                         // Pointer to encoder
     QEI* wheelS;                        // Pointer to encoder
     VL53L1X** ToF;                      // Arrays of pointers to ToF sensors
+    
 
 
 };