Diff: wheelchair.cpp

Revision:

12:0e5a0571b497

Parent:

11:75f0f13ff6c1

--- a/wheelchair.cpp	Thu Aug 16 16:42:45 2018 +0000
+++ b/wheelchair.cpp	Fri Aug 17 03:10:39 2018 +0000
@@ -21,25 +21,6 @@
     ti = time;
 }
 
-/*
-* joystick has analog out of 200-700, scale values between 1.3 and 3.3
-*/
-void Wheelchair::move(float x_coor, float y_coor)
-{
-
-    float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
-    float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
-    
-   // lowPass(scaled_x);
-    //lowPass(scaled_y);
-    
-    x->write(scaled_x);
-    y->write(scaled_y);
-    
-    //out->printf("yaw %f\n", imu->yaw());
-
-}
-
 void Wheelchair::forward()
 {
     x->write(high);
@@ -86,3 +67,31 @@
  return;   
 }
 
+/*
+* joystick has analog out of 200-700, scale values between 1.3 and 3.3
+*/
+void Wheelchair::move(float x_coor, float y_coor, bool leftbound, bool rightbound, bool straightbound)
+{
+
+
+    float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
+    float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
+    
+    if(leftbound && (scaled_x > 2.5) ) {
+            Wheelchair::stop();
+        }
+    
+    else if(rightbound && (scaled_x < 2.5) ) { 
+            Wheelchair::stop();
+        }
+    
+    else if(straightbound && (scaled_y > 2.5) ) { 
+            Wheelchair::stop();
+        }
+        
+    else {
+    x->write(scaled_x);
+    y->write(scaled_y);
+    }
+}
+