Where we will test the side ToF sensors
Dependencies: QEI2 PID Watchdog VL53L1X_Filter ros_lib_kinetic
Diff: wheelchairControlSideTof/wheelchair.h
- Revision:
- 21:d1faccb96146
- Parent:
- 20:3c1b58654e67
diff -r 3c1b58654e67 -r d1faccb96146 wheelchairControlSideTof/wheelchair.h --- a/wheelchairControlSideTof/wheelchair.h Tue Jul 02 21:17:03 2019 +0000 +++ b/wheelchairControlSideTof/wheelchair.h Tue Jul 09 17:52:32 2019 +0000 @@ -3,7 +3,7 @@ /************************************************************************* * Importing libraries into wheelchair.h * **************************************************************************/ -#include "chair_BNO055.h" +#include "IMUWheelchair.h" #include "PID.h" #include "QEI.h" #include "VL53L1X.h" @@ -36,13 +36,13 @@ #define ToFSensorNum 12 /************************************************************************* -*IMU definitions for turning wheelchair +*IMU definitions for turning wheelchair* **************************************************************************/ -#define WHEELCHAIR_RADIUS 56 //distance from IMU to edge of wheelchair(cm) -#define MAX_ANGULAR_DECELERATION 60 //found through testing, max +#define WheelchairRadius 95 //distance from center of rotation to edge of wheelchair +#define maxAngularDeceleration 1.04 //found through testing, max //acceleration at which chair can - //stop while turning. In degree per sec -#define MIN_WALL_LENGTH 100 // minimum distance from wall to ToF (mm) + //stop while turning. In rads per sec +#define minWallLength 100 // minimum distance from wall to ToF (mm) /************************************************************************* * * * Wheelchair class * @@ -57,7 +57,7 @@ * serial for printout, and time. This is also used to initialize some * * variables for the timer,encoders and time-of-flight sensors * **************************************************************************/ - Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* wheel, QEI* wheelS, + Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, Timer* imuT, QEI* wheel, QEI* wheelS, VL53L1X** ToF); /************************************************************************* @@ -214,6 +214,7 @@ double vel; double test1, test2; bool forwardSafety; + bool backwardSafety;//Check if can move backward bool leftSafety; //to check if can turn left bool rightSafety; //to check if can turn right double curr_yaw, curr_velS; // Variable that contains current relative angle @@ -236,7 +237,7 @@ DigitalIn* e_button; //Pointer to e_button - chair_BNO055* imu; // Pointer to IMU + IMUWheelchair* imu; // Pointer to IMU Serial* out; // Pointer to Serial Monitor Timer* ti; // Pointer to the timer QEI* wheel; // Pointer to encoder