Odometry communication
Dependencies: PID QEI chair_BNO055 ros_lib_kinetic3
Dependents: wheelchaircontrolrealtime1
Fork of wheelchaircontrol by
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;