Working file for communication with ROS
Dependencies: QEI2 PID VL53L1X_Filter
Diff: wheelchair.cpp
- Revision:
- 10:e5463c11e0a0
- Parent:
- 8:381a4ec3fef8
- Child:
- 11:d14a1f7f1297
--- a/wheelchair.cpp Sun Jul 22 18:47:04 2018 +0000 +++ b/wheelchair.cpp Mon Jul 23 20:17:37 2018 +0000 @@ -1,4 +1,5 @@ #include "wheelchair.h" +bool manual_drive = false; Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time ) { @@ -80,14 +81,15 @@ return; } curr = imu->yaw(); - //out->printf("curr %f \n", curr); + if(overturn && curr >= 0 && curr <= start ) { - curr = 360; + curr = 361; } } out->printf("done turning\n"); + Wheelchair::stop(); } @@ -118,9 +120,10 @@ if(overturn && curr > (360 - 90) ) { curr = 0; } - out->printf("curr %f \n", curr); } out->printf("done turning\n"); + Wheelchair::stop(); } +