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:
2018-08-01
Revision:
11:d14a1f7f1297
Parent:
10:e5463c11e0a0
Child:
12:921488918749

File content as of revision 11:d14a1f7f1297:

#ifndef wheelchair
#define wheelchair

#include "chair_BNO055.h"
//#include "chair_MPU9250.h"

#define turn_precision 10
#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, Serial* pc, Timer* time);
    void move(float x_coor, float y_coor);
    double turn_right(int deg);
    double turn_left(int deg);
    void turn(int deg);
    void forward();
    void backward();
    void right();
    void left();
    void stop();
    void compass_thread();
    chair_BNO055* imu;

private:
    PwmOut* x;
    PwmOut* y;
    //chair_BNO055* imu;
    //chair_MPU9250* imu;
    Serial* out;
    Timer* ti;

};
#endif