ryan lin
/
wheeldriveassistance
wheelchair code for driver assitance
Fork of wheelchairalexa by
Diff: wheelchair.h
- Revision:
- 11:75f0f13ff6c1
- Parent:
- 10:e5463c11e0a0
- Child:
- 12:0e5a0571b497
--- a/wheelchair.h Mon Jul 23 20:17:37 2018 +0000 +++ b/wheelchair.h Thu Aug 16 16:42:45 2018 +0000 @@ -1,36 +1,36 @@ #ifndef wheelchair #define wheelchair +#include "mbed.h" -//#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 +#define xDir D9 +#define yDir D10 class Wheelchair { public: Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time); void move(float x_coor, float y_coor); - void turn_right(); - void turn_left(); + 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(); private: PwmOut* x; PwmOut* y; - //chair_BNO055* imu; - chair_MPU9250* imu; Serial* out; + Timer* ti; }; #endif \ No newline at end of file