Jesus Fausto / wheelchaircontrol

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Dependencies:   PID QEI chair_BNO055 ros_lib_kinetic

Dependents:  

Fork of wheelchaircontrol by ryan lin

Diff: main.cpp

Revision:
8:381a4ec3fef8
Parent:
7:5e38d43fbce3
Child:
10:e5463c11e0a0
--- a/main.cpp	Sun Jul 22 06:15:03 2018 +0000
+++ b/main.cpp	Sun Jul 22 18:46:24 2018 +0000
@@ -13,7 +13,7 @@
 Timer other;
 
 MPU9250 imu(D14, D15); 
-Wheelchair smart(xDir,yDir, &pc, &t);
+//Wheelchair smart(xDir,yDir, &pc, &t);
 
 int main(void)
 {
@@ -52,7 +52,8 @@
     imu.magbias[2] = +125.;  // User environmental x-axis correction in milliGauss
     
     
-    on = 1;
+    Wheelchair smart(xDir,yDir, &pc, &t);
+    
     while(1) {
    /*        if( pc.readable()) {
                char c = pc.getc();
@@ -117,6 +118,9 @@
             if( c == 'r') {
                 smart.turn_right();
             }
+            if( c == 'l') {
+                smart.turn_left();
+                }
         }
         wait(process);
     }