Working file for communication with ROS
Dependencies: QEI2 PID VL53L1X_Filter
wheelchair.h
- Committer:
- ryanlin97
- Date:
- 2018-07-17
- Revision:
- 5:e0ccaab3959a
- Parent:
- 3:a5e71bfdb492
- Child:
- 6:0cd57bdd8fbc
File content as of revision 5:e0ccaab3959a:
#ifndef wheelchair #define wheelchair #include "chair_imu.h" #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); void move(float x_coor, float y_coor); void turn_right(); void turn_left(); void forward(); void backward(); void right(); void left(); void stop(); private: PwmOut* x; PwmOut* y; chair_imu* imu; }; #endif