for ros
Dependencies: QEI chair_BNO055 pid ros_lib_kinetic
Dependents: wheelchaircontrolrealtimeROS
Fork of wheelchaircontrol by
wheelchair.cpp
- Committer:
- ryanlin97
- Date:
- 2018-07-16
- Revision:
- 3:a5e71bfdb492
- Parent:
- 1:c0beadca1617
- Child:
- 4:29a27953fe70
File content as of revision 3:a5e71bfdb492:
#include "wheelchair.h" Wheelchair::Wheelchair(PinName xPin, PinName yPin) { x = new PwmOut(xPin); y = new PwmOut(yPin); } /* * joystick has analog out of 200-700, scale values between 1.3 and 3.3 */ void Wheelchair::move(float x_coor, float y_coor) { printf("x is %f y is %f \n", 1.6*x_coor + 2.5, 1.6*y_coor + 2.5 + offset); x->write(1.6*x_coor + 2.5); y->write(1.6*y_coor + 2.5 + offset); } void Wheelchair::forward() { x->write(high); y->write(def+offset); } void Wheelchair::backward() { x->write(low); y->write(def); } void Wheelchair::right() { x->write(def); y->write(high); } void Wheelchair::left() { x->write(def); y->write(low); } void Wheelchair::stop() { x->write(def); y->write(def); }