Jesus Fausto / wheelchaircontrolRosCom

Odometry communication

Dependencies:   PID QEI chair_BNO055 ros_lib_kinetic3

Dependents:   wheelchaircontrolrealtime1

Fork of wheelchaircontrol by Jesus Fausto

Diff: wheelchair.h

Revision:
24:6c5b4b82f874
Parent:
23:58ec657a44f2
Child:
25:987f3bcd769b
Child:
28:889fc0e5f8c4
--- a/wheelchair.h	Sat Oct 27 16:47:50 2018 +0000
+++ b/wheelchair.h	Fri Nov 02 02:15:30 2018 +0000
@@ -7,6 +7,7 @@
 #include "QEI.h"
 #include <ros.h>
 #include <geometry_msgs/Twist.h>
+#include <nav_msgs/Odometry.h>
 
 
 /*
@@ -64,6 +65,7 @@
     /* function to get imu data*/
     void compass_thread();
     void velosity_thread();
+    void rosCom_thread();
     
     /* move x millimiters foward using PID*/
     void pid_forward(double mm);
@@ -91,6 +93,10 @@
     void kitchen();
     void desk_to_kitchen();
     
+    double x_position;
+    double y_position;
+    double z_angular;   
+    double odom_vector[3]; 
 private:
     /* Pointers for the joystick speed*/
     PwmOut* x;