ryan lin / wheelchaircontrolRos

for ros

Dependencies:   QEI chair_BNO055 pid ros_lib_kinetic

Dependents:   wheelchaircontrolrealtimeROS

Fork of wheelchaircontrol by ryan lin

wheelchair.h

Committer:
ryanlin97
Date:
2018-07-16
Revision:
3:a5e71bfdb492
Parent:
1:c0beadca1617
Child:
5:e0ccaab3959a

File content as of revision 3:a5e71bfdb492:

#ifndef wheelchair
#define wheelchair

#include "mbed.h"
#include "math.h"

#define def (2.5f/3.3f)
#define high 3.3f
#define offset .02f
#define low (1.7f/3.3f)
#define process .1
#define xDir D12 //top right two pins
#define yDir D13 //top left two pins

class Wheelchair
{
public:
    Wheelchair(PinName xPin, PinName yPin);
    void move(float x_coor, float y_coor);
    void forward();
    void backward();
    void right();
    void left();
    void stop();

private:
    PwmOut* x;
    PwmOut* y;

};
#endif