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:
25:987f3bcd769b
Parent:
24:6c5b4b82f874
--- a/wheelchair.h	Fri Nov 02 02:15:30 2018 +0000
+++ b/wheelchair.h	Fri Nov 02 21:48:37 2018 +0000
@@ -70,8 +70,7 @@
     /* move x millimiters foward using PID*/
     void pid_forward(double mm);
     
-    /* move x millimiters reverse using PID*/
-    void pid_reverse(double mm);
+    double getTwistZ();
     
     /*  gets the encoder distance moved since encoder reset*/
     float getDistance();
@@ -96,7 +95,10 @@
     double x_position;
     double y_position;
     double z_angular;   
-    double odom_vector[3]; 
+    double odom_vector[3];
+    double curr_vel;
+    double z_twistA;
+ 
 private:
     /* Pointers for the joystick speed*/
     PwmOut* x;