Jesus Fausto / wheelchaircontrol

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Dependencies:   PID QEI chair_BNO055 ros_lib_kinetic

Dependents:  

Fork of wheelchaircontrol by ryan lin

Diff: wheelchair.h

Revision:
17:7f3b69300bb6
Parent:
16:b403082eeacd
Child:
19:71a6621ee5c3
--- a/wheelchair.h	Mon Aug 13 21:54:31 2018 +0000
+++ b/wheelchair.h	Tue Aug 28 23:24:08 2018 +0000
@@ -2,10 +2,11 @@
 #define wheelchair
 
 #include "chair_BNO055.h"
-#include "PID_v1.h"
+#include "PID.h"
 #include "QEI.h"
 #include <ros.h>
 #include <geometry_msgs/Twist.h>
+//#include "BufferedSerial.h"
 
 //#include "chair_MPU9250.h"
 
@@ -34,6 +35,7 @@
 /** Wheelchair class
  * Used for controlling the smart wheelchair
  */
+
 class Wheelchair
 {
 public:
@@ -77,6 +79,9 @@
     
     /* function to get imu data*/
     void compass_thread();
+    void distance_thread();
+    void pid_foward(double mm);
+    void pid_reverse(double mm);
     float getDistance();
     void resetDistance();
     void pid_turn(int deg);
@@ -86,6 +91,7 @@
     PwmOut* y;
     chair_BNO055* imu;
     Serial* out;
+    Timer* tim;
     Timer* ti;
     QEI* wheel;