ryan lin / wheelchaircontrolRos

for ros

Dependencies:   QEI chair_BNO055 pid ros_lib_kinetic

Dependents:   wheelchaircontrolrealtimeROS

Fork of wheelchaircontrol by ryan lin

wheelchair.h@1:c0beadca1617, 2018-07-12 (annotated)

Committer:
ryanlin97
Date:
Thu Jul 12 19:06:33 2018 +0000
Revision:
1:c0beadca1617
Parent:
0:fc0c4a184482
Child:
3:a5e71bfdb492
symbol__user)perthread_libspace multiply defined(by /build/mbed-os.....)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 0:fc0c4a184482 1 #ifndef wheelchair
ryanlin97 0:fc0c4a184482 2 #define wheelchair
ryanlin97 0:fc0c4a184482 3
ryanlin97 0:fc0c4a184482 4 #include "mbed.h"
ryanlin97 0:fc0c4a184482 5
ryanlin97 0:fc0c4a184482 6 #define def (2.5f/3.3f)
ryanlin97 0:fc0c4a184482 7 #define high 3.3f
ryanlin97 0:fc0c4a184482 8 #define low (1.5f/3.3f)
ryanlin97 0:fc0c4a184482 9 #define process .1
ryanlin97 0:fc0c4a184482 10 #define xDir PA_4 //top right two pins
ryanlin97 0:fc0c4a184482 11 #define yDir D13 //top left two pins
ryanlin97 0:fc0c4a184482 12
ryanlin97 0:fc0c4a184482 13 class Wheelchair
ryanlin97 0:fc0c4a184482 14 {
ryanlin97 0:fc0c4a184482 15 public:
ryanlin97 1:c0beadca1617 16 Wheelchair(PinName xPin, PinName yPin);
ryanlin97 1:c0beadca1617 17 void move(float degrees);
ryanlin97 1:c0beadca1617 18 void forward();
ryanlin97 1:c0beadca1617 19 void backward();
ryanlin97 1:c0beadca1617 20 void right();
ryanlin97 1:c0beadca1617 21 void left();
ryanlin97 1:c0beadca1617 22 void stop();
ryanlin97 0:fc0c4a184482 23
ryanlin97 1:c0beadca1617 24 private:
ryanlin97 1:c0beadca1617 25 AnalogOut* x;
ryanlin97 1:c0beadca1617 26 AnalogOut* y;
ryanlin97 1:c0beadca1617 27
ryanlin97 0:fc0c4a184482 28 };
ryanlin97 0:fc0c4a184482 29 #endif