Christian Benitez
Wheelchair control
Fork of
wheelchaircontrol
by 
ryan lin
Diff: wheelchair.cpp
- Revision:
- 3:a5e71bfdb492
- Parent:
- 1:c0beadca1617
- Child:
- 4:29a27953fe70
--- a/wheelchair.cpp Thu Jul 12 20:51:54 2018 +0000
+++ b/wheelchair.cpp Mon Jul 16 20:46:42 2018 +0000
@@ -2,18 +2,24 @@
Wheelchair::Wheelchair(PinName xPin, PinName yPin)
{
- x = new AnalogOut(xPin);
- y = new AnalogOut(yPin);
+ x = new PwmOut(xPin);
+ y = new PwmOut(yPin);
}
-
-void Wheelchair::move(float degrees)
+/*
+* joystick has analog out of 200-700, scale values between 1.3 and 3.3
+*/
+void Wheelchair::move(float x_coor, float y_coor)
{
+ printf("x is %f y is %f \n", 1.6*x_coor + 2.5, 1.6*y_coor + 2.5 + offset);
+ x->write(1.6*x_coor + 2.5);
+ y->write(1.6*y_coor + 2.5 + offset);
+
}
void Wheelchair::forward()
{
x->write(high);
- y->write(def);
+ y->write(def+offset);
}
void Wheelchair::backward()