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:
28:889fc0e5f8c4
Parent:
24:6c5b4b82f874
--- a/wheelchair.h	Fri Nov 02 21:52:29 2018 +0000
+++ b/wheelchair.h	Sat Nov 03 20:33:55 2018 +0000
@@ -93,10 +93,15 @@
     void kitchen();
     void desk_to_kitchen();
     
+
+    double getTwistZ();
+
+    
     double x_position;
     double y_position;
     double z_angular;   
-    double odom_vector[3]; 
+    double curr_vel;
+    double z_twistA;
 private:
     /* Pointers for the joystick speed*/
     PwmOut* x;