ryan lin / Mbed OS wheelchaircontrolrealtimeROS

for ros integration

Dependencies:   wheelchaircontrolRos

Fork of wheelchaircontrolrealtime by ryan lin

Files at this revision

API Documentation at this revision

Revision 11:2cb176f5b345, committed 2018-08-31

Comitter:
ryanlin97
Date:
Fri Aug 31 19:42:08 2018 +0000
Parent:
10:0d2dd5a774a3
Commit message:
for alexa and path;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
wheelchaircontrol.lib Show annotated file Show diff for this revision Revisions of this file 
diff -r 0d2dd5a774a3 -r 2cb176f5b345 main.cpp
--- 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();

diff -r 0d2dd5a774a3 -r 2cb176f5b345 wheelchaircontrol.lib
--- a/wheelchaircontrol.lib	Thu Aug 30 03:44:22 2018 +0000
+++ b/wheelchaircontrol.lib	Fri Aug 31 19:42:08 2018 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/ryanlin97/code/wheelchaircontrolRos/#b7a5e4019cae
+https://os.mbed.com/users/ryanlin97/code/wheelchaircontrolRos/#69df88af7c46