Odometry communication
Dependencies: PID QEI chair_BNO055 ros_lib_kinetic3
Dependents: wheelchaircontrolrealtime1
Fork of wheelchaircontrol by
wheelchair.h@5:e0ccaab3959a, 2018-07-17 (annotated)
- Committer:
- ryanlin97
- Date:
- Tue Jul 17 07:19:04 2018 +0000
- Revision:
- 5:e0ccaab3959a
- Parent:
- 3:a5e71bfdb492
- Child:
- 6:0cd57bdd8fbc
imu added
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryanlin97 | 0:fc0c4a184482 | 1 | #ifndef wheelchair |
ryanlin97 | 0:fc0c4a184482 | 2 | #define wheelchair |
ryanlin97 | 0:fc0c4a184482 | 3 | |
ryanlin97 | 5:e0ccaab3959a | 4 | #include "chair_imu.h" |
ryanlin97 | 0:fc0c4a184482 | 5 | |
ryanlin97 | 0:fc0c4a184482 | 6 | #define def (2.5f/3.3f) |
ryanlin97 | 0:fc0c4a184482 | 7 | #define high 3.3f |
ryanlin97 | 3:a5e71bfdb492 | 8 | #define offset .02f |
ryanlin97 | 3:a5e71bfdb492 | 9 | #define low (1.7f/3.3f) |
ryanlin97 | 0:fc0c4a184482 | 10 | #define process .1 |
ryanlin97 | 3:a5e71bfdb492 | 11 | #define xDir D12 //top right two pins |
ryanlin97 | 0:fc0c4a184482 | 12 | #define yDir D13 //top left two pins |
ryanlin97 | 0:fc0c4a184482 | 13 | |
ryanlin97 | 0:fc0c4a184482 | 14 | class Wheelchair |
ryanlin97 | 0:fc0c4a184482 | 15 | { |
ryanlin97 | 0:fc0c4a184482 | 16 | public: |
ryanlin97 | 1:c0beadca1617 | 17 | Wheelchair(PinName xPin, PinName yPin); |
ryanlin97 | 3:a5e71bfdb492 | 18 | void move(float x_coor, float y_coor); |
ryanlin97 | 5:e0ccaab3959a | 19 | void turn_right(); |
ryanlin97 | 5:e0ccaab3959a | 20 | void turn_left(); |
ryanlin97 | 1:c0beadca1617 | 21 | void forward(); |
ryanlin97 | 1:c0beadca1617 | 22 | void backward(); |
ryanlin97 | 1:c0beadca1617 | 23 | void right(); |
ryanlin97 | 1:c0beadca1617 | 24 | void left(); |
ryanlin97 | 1:c0beadca1617 | 25 | void stop(); |
ryanlin97 | 0:fc0c4a184482 | 26 | |
ryanlin97 | 1:c0beadca1617 | 27 | private: |
ryanlin97 | 3:a5e71bfdb492 | 28 | PwmOut* x; |
ryanlin97 | 3:a5e71bfdb492 | 29 | PwmOut* y; |
ryanlin97 | 5:e0ccaab3959a | 30 | chair_imu* imu; |
ryanlin97 | 1:c0beadca1617 | 31 | |
ryanlin97 | 0:fc0c4a184482 | 32 | }; |
ryanlin97 | 0:fc0c4a184482 | 33 | #endif |