ryan lin
/
wheeldriveassistance
wheelchair code for driver assitance
Fork of wheelchairalexa by
Diff: wheelchair.h
- Revision:
- 6:0cd57bdd8fbc
- Parent:
- 5:e0ccaab3959a
- Child:
- 7:5e38d43fbce3
diff -r e0ccaab3959a -r 0cd57bdd8fbc wheelchair.h --- a/wheelchair.h Tue Jul 17 07:19:04 2018 +0000 +++ b/wheelchair.h Fri Jul 20 17:54:43 2018 +0000 @@ -1,22 +1,23 @@ #ifndef wheelchair #define wheelchair -#include "chair_imu.h" +//#include "chair_BNO055.h" +#include "chair_MPU9250.h" #define def (2.5f/3.3f) #define high 3.3f #define offset .02f #define low (1.7f/3.3f) -#define process .1 +#define process .05 #define xDir D12 //top right two pins #define yDir D13 //top left two pins class Wheelchair { public: - Wheelchair(PinName xPin, PinName yPin); + Wheelchair(PinName xPin, PinName yPin, Serial* pc); void move(float x_coor, float y_coor); - void turn_right(); + void turn_right(Serial); void turn_left(); void forward(); void backward(); @@ -27,7 +28,8 @@ private: PwmOut* x; PwmOut* y; - chair_imu* imu; + //chair_BNO055* imu; + chair_MPU9250* imu; }; #endif \ No newline at end of file