wheelchair class
Dependencies: QEI chair_BNO055 pid ros_lib_kinetic
Dependents: wheelchaircontrolrealtime
Diff: wheelchair.h
- Revision:
- 11:d14a1f7f1297
- Parent:
- 10:e5463c11e0a0
- Child:
- 12:921488918749
diff -r e5463c11e0a0 -r d14a1f7f1297 wheelchair.h --- a/wheelchair.h Mon Jul 23 20:17:37 2018 +0000 +++ b/wheelchair.h Wed Aug 01 22:39:22 2018 +0000 @@ -1,9 +1,10 @@ #ifndef wheelchair #define wheelchair -//#include "chair_BNO055.h" -#include "chair_MPU9250.h" +#include "chair_BNO055.h" +//#include "chair_MPU9250.h" +#define turn_precision 10 #define def (2.5f/3.3f) #define high 3.3f #define offset .02f @@ -17,20 +18,24 @@ public: Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time); void move(float x_coor, float y_coor); - void turn_right(); - void turn_left(); + double turn_right(int deg); + double turn_left(int deg); + void turn(int deg); void forward(); void backward(); void right(); void left(); void stop(); + void compass_thread(); + chair_BNO055* imu; private: PwmOut* x; PwmOut* y; //chair_BNO055* imu; - chair_MPU9250* imu; + //chair_MPU9250* imu; Serial* out; + Timer* ti; }; #endif \ No newline at end of file