ryan lin / wheelchaircontrolRos

for ros

Dependencies:   QEI chair_BNO055 pid ros_lib_kinetic

Dependents:   wheelchaircontrolrealtimeROS

Fork of wheelchaircontrol by ryan lin

wheelchair.h@11:d14a1f7f1297, 2018-08-01 (annotated)

Committer:
ryanlin97
Date:
Wed Aug 01 22:39:22 2018 +0000
Revision:
11:d14a1f7f1297
Parent:
10:e5463c11e0a0
Child:
12:921488918749
fiddling with the turning to correct itself

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 11:d14a1f7f1297 4 #include "chair_BNO055.h"
ryanlin97 11:d14a1f7f1297 5 //#include "chair_MPU9250.h"
ryanlin97 0:fc0c4a184482 6
ryanlin97 11:d14a1f7f1297 7 #define turn_precision 10
ryanlin97 0:fc0c4a184482 8 #define def (2.5f/3.3f)
ryanlin97 0:fc0c4a184482 9 #define high 3.3f
ryanlin97 3:a5e71bfdb492 10 #define offset .02f
ryanlin97 3:a5e71bfdb492 11 #define low (1.7f/3.3f)
ryanlin97 10:e5463c11e0a0 12 #define process .1
ryanlin97 3:a5e71bfdb492 13 #define xDir D12 //top right two pins
ryanlin97 0:fc0c4a184482 14 #define yDir D13 //top left two pins
ryanlin97 0:fc0c4a184482 15
ryanlin97 0:fc0c4a184482 16 class Wheelchair
ryanlin97 0:fc0c4a184482 17 {
ryanlin97 0:fc0c4a184482 18 public:
ryanlin97 7:5e38d43fbce3 19 Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time);
ryanlin97 3:a5e71bfdb492 20 void move(float x_coor, float y_coor);
ryanlin97 11:d14a1f7f1297 21 double turn_right(int deg);
ryanlin97 11:d14a1f7f1297 22 double turn_left(int deg);
ryanlin97 11:d14a1f7f1297 23 void turn(int deg);
ryanlin97 1:c0beadca1617 24 void forward();
ryanlin97 1:c0beadca1617 25 void backward();
ryanlin97 1:c0beadca1617 26 void right();
ryanlin97 1:c0beadca1617 27 void left();
ryanlin97 1:c0beadca1617 28 void stop();
ryanlin97 11:d14a1f7f1297 29 void compass_thread();
ryanlin97 11:d14a1f7f1297 30 chair_BNO055* imu;
ryanlin97 0:fc0c4a184482 31
ryanlin97 1:c0beadca1617 32 private:
ryanlin97 3:a5e71bfdb492 33 PwmOut* x;
ryanlin97 3:a5e71bfdb492 34 PwmOut* y;
ryanlin97 6:0cd57bdd8fbc 35 //chair_BNO055* imu;
ryanlin97 11:d14a1f7f1297 36 //chair_MPU9250* imu;
ryanlin97 7:5e38d43fbce3 37 Serial* out;
ryanlin97 11:d14a1f7f1297 38 Timer* ti;
ryanlin97 1:c0beadca1617 39
ryanlin97 0:fc0c4a184482 40 };
ryanlin97 0:fc0c4a184482 41 #endif