ryan lin / wheelchaircontrolRos

for ros

Dependencies:   QEI chair_BNO055 pid ros_lib_kinetic

Dependents:   wheelchaircontrolrealtimeROS

Fork of wheelchaircontrol by ryan lin

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?

UserRevisionLine numberNew 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