Jesus Fausto
1
Dependencies: QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic
Dependents: wheelchairControlSumer2019
Diff: wheelchair.cpp
- Revision:
- 4:29a27953fe70
- Parent:
- 3:a5e71bfdb492
- Child:
- 5:e0ccaab3959a
--- a/wheelchair.cpp Mon Jul 16 20:46:42 2018 +0000
+++ b/wheelchair.cpp Tue Jul 17 02:29:26 2018 +0000
@@ -10,9 +10,12 @@
*/
void Wheelchair::move(float x_coor, float y_coor)
{
- printf("x is %f y is %f \n", 1.6*x_coor + 2.5, 1.6*y_coor + 2.5 + offset);
- x->write(1.6*x_coor + 2.5);
- y->write(1.6*y_coor + 2.5 + offset);
+ printf("raw is %f %f \n", x_coor, y_coor);
+ printf("x is %f y is %f \n", ((x_coor*1.6f) + 1.7f), ((y_coor*1.6f) + 1.7f));
+ float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
+ float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
+ x->write(scaled_x);
+ y->write(scaled_y);
}