Christian Benitez
/
wheelchaircontrol
Wheelchair control
Fork of wheelchaircontrol by
wheelchair.cpp
- Committer:
- ryanlin97
- Date:
- 2018-07-17
- Revision:
- 4:29a27953fe70
- Parent:
- 3:a5e71bfdb492
- Child:
- 5:e0ccaab3959a
File content as of revision 4:29a27953fe70:
#include "wheelchair.h" Wheelchair::Wheelchair(PinName xPin, PinName yPin) { x = new PwmOut(xPin); y = new PwmOut(yPin); } /* * 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("raw is %f %f \n", x_coor, y_coor); printf("x is %f y is %f \n", ((x_coor*1.6f) + 1.7f), ((y_coor*1.6f) + 1.7f)); float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f; float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f; x->write(scaled_x); y->write(scaled_y); } void Wheelchair::forward() { x->write(high); y->write(def+offset); } void Wheelchair::backward() { x->write(low); y->write(def); } void Wheelchair::right() { x->write(def); y->write(high); } void Wheelchair::left() { x->write(def); y->write(low); } void Wheelchair::stop() { x->write(def); y->write(def); }