Diff: wheelchair.h

Revision:

24:d2f234fbc20d

Parent:

23:8d11d953ceeb

Child:

25:58ec657a44f2

--- a/wheelchair.h	Tue Oct 16 23:03:40 2018 +0000
+++ b/wheelchair.h	Sat Oct 27 10:10:14 2018 +0000
@@ -35,7 +35,7 @@
     /** Create Wheelchair Object with x,y pin for analog dc output
      * serial for printout, and timer
      */
-    Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* wheel);
+    Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* wheel, QEI* wheelS);
     
     /** move using the joystick */
     void move(float x_coor, float y_coor);
@@ -63,6 +63,7 @@
     
     /* function to get imu data*/
     void compass_thread();
+    void velosity_thread();
     
     /* move x millimiters foward using PID*/
     void pid_forward(double mm);
@@ -79,6 +80,8 @@
     /* function to to determine whether we are turning left or right*/
     void pid_turn(int deg);
     
+    void pid_twistA();
+    void pid_twistV();
     /* functions with a predetermined path demmo*/
     void desk();
     void kitchen();
@@ -92,6 +95,7 @@
     Serial* out;                        // Pointer to Serial Monitor
     Timer* ti;                          // Pointer to the timer
     QEI* wheel;                         // Pointer to encoder
+    QEI* wheelS;                         // Pointer to encoder
 
 };
 #endif
\ No newline at end of file