Jesi Miranda / wheelchaircontrol_jesi

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Dependencies:   QEI2 PID VL53L1X_Filter

Diff: wheelchair.h

Revision:
11:d14a1f7f1297
Parent:
10:e5463c11e0a0
Child:
12:921488918749
diff -r e5463c11e0a0 -r d14a1f7f1297 wheelchair.h
--- a/wheelchair.h	Mon Jul 23 20:17:37 2018 +0000
+++ b/wheelchair.h	Wed Aug 01 22:39:22 2018 +0000
@@ -1,9 +1,10 @@
 #ifndef wheelchair
 #define wheelchair
 
-//#include "chair_BNO055.h"
-#include "chair_MPU9250.h"
+#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
@@ -17,20 +18,24 @@
 public:
     Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time);
     void move(float x_coor, float y_coor);
-    void turn_right();
-    void turn_left();
+    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;
+    //chair_MPU9250* imu;
     Serial* out;
+    Timer* ti;
 
 };
 #endif
\ No newline at end of file