Diff: wheelchair.cpp

Revision:

27:17783779a954

Parent:

24:6c5b4b82f874

Child:

28:889fc0e5f8c4

--- a/wheelchair.cpp	Fri Nov 02 02:15:30 2018 +0000
+++ b/wheelchair.cpp	Fri Nov 02 21:52:29 2018 +0000
@@ -10,10 +10,7 @@
 volatile double vInS, vOutS, vDesiredS;
 volatile double yIn, yOut, yDesired;
 
-double z_angular, dist_old, curr_pos;
-double x_position = 0;
-double y_position = 0;
-
+double dist_old, curr_pos;
 
  
 PID myPID(&pid_yaw, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT);             // Angle PID object constructor
@@ -50,6 +47,8 @@
 }
 Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS)   // Function Constructor for Wheelchair class
 {
+    x_position = 0;
+    y_position = 0;
     //Initializes X and Y variables to Pins
     x = new PwmOut(xPin);                                                               
     y = new PwmOut(yPin);