Jesus Fausto / wheelchaircontrol1

1

Dependencies:   QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic

Dependents:   wheelchairControlSumer2019

Diff: wheelchair.h

Revision:
27:da718b990837
Parent:
26:662693bd7f31
Child:
28:6d6bd8ad04dc
--- a/wheelchair.h	Thu Jun 27 16:32:12 2019 +0000
+++ b/wheelchair.h	Fri Jun 28 21:16:26 2019 +0000
@@ -6,6 +6,7 @@
 #include "PID.h"
 #include "QEI.h"
 #include "VL53L1X.h"
+#include "statistics.h"
 
 #include <ros.h>
 #include <geometry_msgs/Twist.h>
@@ -116,9 +117,13 @@
     double test1, test2;  
     bool forwardSafety;
     double curr_yaw, curr_velS;                                                            // Variable that contains current relative angle
-
     
 private:
+    int runningAverage[4];
+
+    int ledgeArrayLF[100];
+    int ledgeArrayRF[100];
+    
     /* Pointers for the joystick speed */
     PwmOut* x;
     PwmOut* y;