pid foward back and reverse
Dependencies: PID QEI chair_BNO055 ros_lib_kinetic
Fork of wheelchaircontrol by
wheelchair.h@11:d14a1f7f1297, 2018-08-01 (annotated)
- Committer:
- ryanlin97
- Date:
- Wed Aug 01 22:39:22 2018 +0000
- Revision:
- 11:d14a1f7f1297
- Parent:
- 10:e5463c11e0a0
- Child:
- 12:921488918749
fiddling with the turning to correct itself
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryanlin97 | 0:fc0c4a184482 | 1 | #ifndef wheelchair |
ryanlin97 | 0:fc0c4a184482 | 2 | #define wheelchair |
ryanlin97 | 0:fc0c4a184482 | 3 | |
ryanlin97 | 11:d14a1f7f1297 | 4 | #include "chair_BNO055.h" |
ryanlin97 | 11:d14a1f7f1297 | 5 | //#include "chair_MPU9250.h" |
ryanlin97 | 0:fc0c4a184482 | 6 | |
ryanlin97 | 11:d14a1f7f1297 | 7 | #define turn_precision 10 |
ryanlin97 | 0:fc0c4a184482 | 8 | #define def (2.5f/3.3f) |
ryanlin97 | 0:fc0c4a184482 | 9 | #define high 3.3f |
ryanlin97 | 3:a5e71bfdb492 | 10 | #define offset .02f |
ryanlin97 | 3:a5e71bfdb492 | 11 | #define low (1.7f/3.3f) |
ryanlin97 | 10:e5463c11e0a0 | 12 | #define process .1 |
ryanlin97 | 3:a5e71bfdb492 | 13 | #define xDir D12 //top right two pins |
ryanlin97 | 0:fc0c4a184482 | 14 | #define yDir D13 //top left two pins |
ryanlin97 | 0:fc0c4a184482 | 15 | |
ryanlin97 | 0:fc0c4a184482 | 16 | class Wheelchair |
ryanlin97 | 0:fc0c4a184482 | 17 | { |
ryanlin97 | 0:fc0c4a184482 | 18 | public: |
ryanlin97 | 7:5e38d43fbce3 | 19 | Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time); |
ryanlin97 | 3:a5e71bfdb492 | 20 | void move(float x_coor, float y_coor); |
ryanlin97 | 11:d14a1f7f1297 | 21 | double turn_right(int deg); |
ryanlin97 | 11:d14a1f7f1297 | 22 | double turn_left(int deg); |
ryanlin97 | 11:d14a1f7f1297 | 23 | void turn(int deg); |
ryanlin97 | 1:c0beadca1617 | 24 | void forward(); |
ryanlin97 | 1:c0beadca1617 | 25 | void backward(); |
ryanlin97 | 1:c0beadca1617 | 26 | void right(); |
ryanlin97 | 1:c0beadca1617 | 27 | void left(); |
ryanlin97 | 1:c0beadca1617 | 28 | void stop(); |
ryanlin97 | 11:d14a1f7f1297 | 29 | void compass_thread(); |
ryanlin97 | 11:d14a1f7f1297 | 30 | chair_BNO055* imu; |
ryanlin97 | 0:fc0c4a184482 | 31 | |
ryanlin97 | 1:c0beadca1617 | 32 | private: |
ryanlin97 | 3:a5e71bfdb492 | 33 | PwmOut* x; |
ryanlin97 | 3:a5e71bfdb492 | 34 | PwmOut* y; |
ryanlin97 | 6:0cd57bdd8fbc | 35 | //chair_BNO055* imu; |
ryanlin97 | 11:d14a1f7f1297 | 36 | //chair_MPU9250* imu; |
ryanlin97 | 7:5e38d43fbce3 | 37 | Serial* out; |
ryanlin97 | 11:d14a1f7f1297 | 38 | Timer* ti; |
ryanlin97 | 1:c0beadca1617 | 39 | |
ryanlin97 | 0:fc0c4a184482 | 40 | }; |
ryanlin97 | 0:fc0c4a184482 | 41 | #endif |