ryan lin / Mbed 2 deprecated wheeldriveassistance

wheelchair code for driver assitance

Dependencies:   mbed

Fork of wheelchairalexa by ryan lin

wheelchair.h@3:a5e71bfdb492, 2018-07-16 (annotated)

Committer:
ryanlin97
Date:
Mon Jul 16 20:46:42 2018 +0000
Revision:
3:a5e71bfdb492
Parent:
1:c0beadca1617
Child:
5:e0ccaab3959a
using joystick

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 0:fc0c4a184482 1 #ifndef wheelchair
ryanlin97 0:fc0c4a184482 2 #define wheelchair
ryanlin97 0:fc0c4a184482 3
ryanlin97 0:fc0c4a184482 4 #include "mbed.h"
ryanlin97 3:a5e71bfdb492 5 #include "math.h"
ryanlin97 0:fc0c4a184482 6
ryanlin97 0:fc0c4a184482 7 #define def (2.5f/3.3f)
ryanlin97 0:fc0c4a184482 8 #define high 3.3f
ryanlin97 3:a5e71bfdb492 9 #define offset .02f
ryanlin97 3:a5e71bfdb492 10 #define low (1.7f/3.3f)
ryanlin97 0:fc0c4a184482 11 #define process .1
ryanlin97 3:a5e71bfdb492 12 #define xDir D12 //top right two pins
ryanlin97 0:fc0c4a184482 13 #define yDir D13 //top left two pins
ryanlin97 0:fc0c4a184482 14
ryanlin97 0:fc0c4a184482 15 class Wheelchair
ryanlin97 0:fc0c4a184482 16 {
ryanlin97 0:fc0c4a184482 17 public:
ryanlin97 1:c0beadca1617 18 Wheelchair(PinName xPin, PinName yPin);
ryanlin97 3:a5e71bfdb492 19 void move(float x_coor, float y_coor);
ryanlin97 1:c0beadca1617 20 void forward();
ryanlin97 1:c0beadca1617 21 void backward();
ryanlin97 1:c0beadca1617 22 void right();
ryanlin97 1:c0beadca1617 23 void left();
ryanlin97 1:c0beadca1617 24 void stop();
ryanlin97 0:fc0c4a184482 25
ryanlin97 1:c0beadca1617 26 private:
ryanlin97 3:a5e71bfdb492 27 PwmOut* x;
ryanlin97 3:a5e71bfdb492 28 PwmOut* y;
ryanlin97 1:c0beadca1617 29
ryanlin97 0:fc0c4a184482 30 };
ryanlin97 0:fc0c4a184482 31 #endif