Working file for communication with ROS
Dependencies: QEI2 PID VL53L1X_Filter
wheelchair.h
- Committer:
- ryanlin97
- Date:
- 2018-08-01
- Revision:
- 11:d14a1f7f1297
- Parent:
- 10:e5463c11e0a0
- Child:
- 12:921488918749
File content as of revision 11:d14a1f7f1297:
#ifndef wheelchair #define wheelchair #include "chair_BNO055.h" //#include "chair_MPU9250.h" #define turn_precision 10 #define def (2.5f/3.3f) #define high 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 class Wheelchair { public: Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time); void move(float x_coor, float y_coor); double turn_right(int deg); double turn_left(int deg); void turn(int deg); void forward(); void backward(); void right(); void left(); void stop(); void compass_thread(); chair_BNO055* imu; private: PwmOut* x; PwmOut* y; //chair_BNO055* imu; //chair_MPU9250* imu; Serial* out; Timer* ti; }; #endif