Working file for communication with ROS
Dependencies: QEI2 PID VL53L1X_Filter
Diff: wheelchair.h
- Revision:
- 31:9283c8cd5362
- Parent:
- 29:5714715ab1f5
diff -r 2ecc59840534 -r 9283c8cd5362 wheelchair.h --- a/wheelchair.h Fri Jul 05 19:41:35 2019 +0000 +++ b/wheelchair.h Tue Aug 20 22:24:17 2019 +0000 @@ -23,6 +23,7 @@ #define low (1.7f/3.3f) //Low power on joystick; used on x and y axis #define offset .03f //Joystick adjustment to be able to go straight. Chair dependent on manufactoring precision #define process .1 //Defines default time delay in seconds + /************************************************************************* *Pin plug-in for Nucleo-L432KC/Compatible with Nucleo-400 series (F767ZI)* **************************************************************************/ @@ -93,10 +94,17 @@ * wheechair using the encoder values this is being obatined. * ************************************************************************ */ void velocity_thread(); - - //not being used + + + /*_----------------------------------------------------------------------------*/ + /*_----------------------------------------------------------------------------*/ + /*_----------------------------------------------------------------------------*/ void rosCom_thread(); - //void tof_encoder_roscom_thread(); + /*_----------------------------------------------------------------------------*/ + /*_----------------------------------------------------------------------------*/ + /*_----------------------------------------------------------------------------*/ + + /************************************************************************* * This method is a thread that iterates through all the sensor's * * values and determines whether or not the wheelchair is about to hit * @@ -215,6 +223,7 @@ double dist_new; double dist_newS; + private: /* Pointers for the joystick speed */ PwmOut* x; @@ -226,6 +235,7 @@ QEI* wheel; // Pointer to encoder QEI* wheelS; // Pointer to encoder VL53L1X** ToF; // Arrays of pointers to ToF sensors + };