Working file for communication with ROS
Dependencies: QEI2 PID VL53L1X_Filter
Diff: wheelchair.h
- Revision:
- 24:d2f234fbc20d
- Parent:
- 23:8d11d953ceeb
- Child:
- 25:58ec657a44f2
--- a/wheelchair.h Tue Oct 16 23:03:40 2018 +0000 +++ b/wheelchair.h Sat Oct 27 10:10:14 2018 +0000 @@ -35,7 +35,7 @@ /** 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, QEI* wheel); + Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* wheel, QEI* wheelS); /** move using the joystick */ void move(float x_coor, float y_coor); @@ -63,6 +63,7 @@ /* function to get imu data*/ void compass_thread(); + void velosity_thread(); /* move x millimiters foward using PID*/ void pid_forward(double mm); @@ -79,6 +80,8 @@ /* function to to determine whether we are turning left or right*/ void pid_turn(int deg); + void pid_twistA(); + void pid_twistV(); /* functions with a predetermined path demmo*/ void desk(); void kitchen(); @@ -92,6 +95,7 @@ Serial* out; // Pointer to Serial Monitor Timer* ti; // Pointer to the timer QEI* wheel; // Pointer to encoder + QEI* wheelS; // Pointer to encoder }; #endif \ No newline at end of file