ryan lin / wheelchaircontrolRos

for ros

Dependencies:   QEI chair_BNO055 pid ros_lib_kinetic

Dependents:   wheelchaircontrolrealtimeROS

Fork of wheelchaircontrol by ryan lin

Diff: wheelchair.h

Revision:
19:df4257c75ed0
Parent:
18:3eadf01ec1b0
Child:
20:b7a5e4019cae
--- a/wheelchair.h	Mon Aug 27 04:48:16 2018 +0000
+++ b/wheelchair.h	Wed Aug 29 21:01:51 2018 +0000
@@ -80,15 +80,22 @@
     float getDistance();
     void resetDistance();
     void pid_turn(int deg);
-    
+    void turn_on();
+    void turn_off();   
+    void pid_forward(double mm);
+    void kitchen();
+    void office();
+    void follow();
+     
 private:
+    double readEncoder();
     PwmOut* x;
     PwmOut* y;
     chair_BNO055* imu;
     Serial* out;
     Timer* ti;
     QEI* wheel;
-    //
+    
 
 };
 #endif
\ No newline at end of file