Working file for communication with ROS
Dependencies: QEI2 PID VL53L1X_Filter
Diff: wheelchair.cpp
- Revision:
- 27:302d03ee1ae0
- Parent:
- 26:c842070aa0b8
- Child:
- 29:5714715ab1f5
diff -r c842070aa0b8 -r 302d03ee1ae0 wheelchair.cpp --- a/wheelchair.cpp Sat May 25 03:32:36 2019 +0000 +++ b/wheelchair.cpp Tue Jun 25 17:54:15 2019 +0000 @@ -389,7 +389,7 @@ double temporS = def+offset; vDesiredS = 0; x->write(def); - y->write(def+offset); + y->write(def); wheel->reset(); // Resets the encoders /* Sets the constants for P and D */ PIDVelosity.SetTunings(.0005,0, 0.00); @@ -405,7 +405,7 @@ while(1) { - //linearV = smart.linearV; + //commandRead.linear.x = .7; test1 = linearV*100; vel = curr_vel; vDesired = linearV*100;