Diff: wheelchair.h

Revision:

6:0cd57bdd8fbc

Parent:

5:e0ccaab3959a

Child:

7:5e38d43fbce3

--- a/wheelchair.h	Tue Jul 17 07:19:04 2018 +0000
+++ b/wheelchair.h	Fri Jul 20 17:54:43 2018 +0000
@@ -1,22 +1,23 @@
 #ifndef wheelchair
 #define wheelchair
 
-#include "chair_imu.h"
+//#include "chair_BNO055.h"
+#include "chair_MPU9250.h"
 
 #define def (2.5f/3.3f)
 #define high 3.3f
 #define offset .02f
 #define low (1.7f/3.3f)
-#define process .1
+#define process .05
 #define xDir D12 //top right two pins
 #define yDir D13 //top left two pins
 
 class Wheelchair
 {
 public:
-    Wheelchair(PinName xPin, PinName yPin);
+    Wheelchair(PinName xPin, PinName yPin, Serial* pc);
     void move(float x_coor, float y_coor);
-    void turn_right();
+    void turn_right(Serial);
     void turn_left();
     void forward();
     void backward();
@@ -27,7 +28,8 @@
 private:
     PwmOut* x;
     PwmOut* y;
-    chair_imu* imu;
+    //chair_BNO055* imu;
+    chair_MPU9250* imu;
 
 };
 #endif
\ No newline at end of file