for ros
Dependencies: QEI chair_BNO055 pid ros_lib_kinetic
Dependents: wheelchaircontrolrealtimeROS
Fork of wheelchaircontrol by
Diff: wheelchair.h
- Revision:
- 21:69df88af7c46
- Parent:
- 20:b7a5e4019cae
--- a/wheelchair.h Thu Aug 30 03:44:03 2018 +0000 +++ b/wheelchair.h Fri Aug 31 19:41:42 2018 +0000 @@ -12,7 +12,7 @@ #define turn_precision 10 #define def (2.5f/3.3f) #define high (3.3f-.15f)/3.3f -#define offset .028f +#define offset .02742f #define low (1.7f/3.3f) #define process .1 @@ -40,7 +40,7 @@ /** Create Wheelchair Object with x,y pin for analog dc output * serial for printout, and timer */ - Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time); + Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei); /** move using the joystick */ void move(float x_coor, float y_coor); @@ -84,8 +84,9 @@ void turn_off(); void pid_forward(double mm); void kitchen(); - void office(); + void desk(); void follow(); + void back(); private: double readEncoder();