Diff: wheelchair.h

Revision:

21:69df88af7c46

Parent:

20:b7a5e4019cae

diff -r b7a5e4019cae -r 69df88af7c46 wheelchair.h
--- 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();