Jesus Fausto / wheelchaircontrol1

1

Dependencies:   QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic

Dependents:   wheelchairControlSumer2019

wheelchair.cpp@3:a5e71bfdb492, 2018-07-16 (annotated)

Committer:
ryanlin97
Date:
Mon Jul 16 20:46:42 2018 +0000
Revision:
3:a5e71bfdb492
Parent:
1:c0beadca1617
Child:
4:29a27953fe70
using joystick

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 0:fc0c4a184482 1 #include "wheelchair.h"
ryanlin97 1:c0beadca1617 2
ryanlin97 1:c0beadca1617 3 Wheelchair::Wheelchair(PinName xPin, PinName yPin)
ryanlin97 1:c0beadca1617 4 {
ryanlin97 3:a5e71bfdb492 5 x = new PwmOut(xPin);
ryanlin97 3:a5e71bfdb492 6 y = new PwmOut(yPin);
ryanlin97 1:c0beadca1617 7 }
ryanlin97 3:a5e71bfdb492 8 /*
ryanlin97 3:a5e71bfdb492 9 * joystick has analog out of 200-700, scale values between 1.3 and 3.3
ryanlin97 3:a5e71bfdb492 10 */
ryanlin97 3:a5e71bfdb492 11 void Wheelchair::move(float x_coor, float y_coor)
ryanlin97 1:c0beadca1617 12 {
ryanlin97 3:a5e71bfdb492 13 printf("x is %f y is %f \n", 1.6*x_coor + 2.5, 1.6*y_coor + 2.5 + offset);
ryanlin97 3:a5e71bfdb492 14 x->write(1.6*x_coor + 2.5);
ryanlin97 3:a5e71bfdb492 15 y->write(1.6*y_coor + 2.5 + offset);
ryanlin97 3:a5e71bfdb492 16
ryanlin97 1:c0beadca1617 17 }
ryanlin97 1:c0beadca1617 18
ryanlin97 1:c0beadca1617 19 void Wheelchair::forward()
ryanlin97 1:c0beadca1617 20 {
ryanlin97 0:fc0c4a184482 21 x->write(high);
ryanlin97 3:a5e71bfdb492 22 y->write(def+offset);
ryanlin97 0:fc0c4a184482 23 }
ryanlin97 0:fc0c4a184482 24
ryanlin97 1:c0beadca1617 25 void Wheelchair::backward()
ryanlin97 1:c0beadca1617 26 {
ryanlin97 0:fc0c4a184482 27 x->write(low);
ryanlin97 0:fc0c4a184482 28 y->write(def);
ryanlin97 0:fc0c4a184482 29 }
ryanlin97 0:fc0c4a184482 30
ryanlin97 1:c0beadca1617 31 void Wheelchair::right()
ryanlin97 1:c0beadca1617 32 {
ryanlin97 0:fc0c4a184482 33 x->write(def);
ryanlin97 0:fc0c4a184482 34 y->write(high);
ryanlin97 0:fc0c4a184482 35 }
ryanlin97 0:fc0c4a184482 36
ryanlin97 1:c0beadca1617 37 void Wheelchair::left()
ryanlin97 1:c0beadca1617 38 {
ryanlin97 0:fc0c4a184482 39 x->write(def);
ryanlin97 0:fc0c4a184482 40 y->write(low);
ryanlin97 0:fc0c4a184482 41 }
ryanlin97 0:fc0c4a184482 42
ryanlin97 1:c0beadca1617 43 void Wheelchair::stop()
ryanlin97 1:c0beadca1617 44 {
ryanlin97 0:fc0c4a184482 45 x->write(def);
ryanlin97 0:fc0c4a184482 46 y->write(def);
ryanlin97 1:c0beadca1617 47 }