for ros integration
Dependencies: wheelchaircontrolRos
Fork of wheelchaircontrolrealtime by
Diff: main.cpp
- Revision:
- 11:2cb176f5b345
- Parent:
- 9:90bc440405b6
--- a/main.cpp Thu Aug 30 03:44:22 2018 +0000 +++ b/main.cpp Fri Aug 31 19:42:08 2018 +0000 @@ -13,7 +13,12 @@ Timer t; Thread thread; EventQueue queue; -Wheelchair smart(xDir,yDir, &pc, &t); + +QEI wheel(D0, D1, NC, 1200); +DigitalIn pt3(D1, PullUp); +DigitalIn pt4(D0, PullUp); + +Wheelchair smart(xDir,yDir, &pc, &t, &wheel); char c; bool manual = false; @@ -133,14 +138,24 @@ } } } - + else if( c == 'k') { + smart.kitchen(); + + c = 'z'; + } + else if( c == 'i') { + smart.desk(); + } + else if( c == 'c') { + smart.back(); + } else { pc.printf("none \n"); smart.stop(); } received = false; } - + else { // pc.printf("Nothing pressed \n"); smart.stop();