ryan lin / Mbed 2 deprecated wheeldriveassistance

wheelchair code for driver assitance

Dependencies:   mbed

Fork of wheelchairalexa by ryan lin

wheelchair.h@10:e5463c11e0a0, 2018-07-23 (annotated)

Committer:
ryanlin97
Date:
Mon Jul 23 20:17:37 2018 +0000
Revision:
10:e5463c11e0a0
Parent:
7:5e38d43fbce3
Child:
11:75f0f13ff6c1
working with turns

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 6:0cd57bdd8fbc 4 //#include "chair_BNO055.h"
ryanlin97 6:0cd57bdd8fbc 5 #include "chair_MPU9250.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 10:e5463c11e0a0 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 7:5e38d43fbce3 18 Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time);
ryanlin97 3:a5e71bfdb492 19 void move(float x_coor, float y_coor);
ryanlin97 7:5e38d43fbce3 20 void turn_right();
ryanlin97 5:e0ccaab3959a 21 void turn_left();
ryanlin97 1:c0beadca1617 22 void forward();
ryanlin97 1:c0beadca1617 23 void backward();
ryanlin97 1:c0beadca1617 24 void right();
ryanlin97 1:c0beadca1617 25 void left();
ryanlin97 1:c0beadca1617 26 void stop();
ryanlin97 0:fc0c4a184482 27
ryanlin97 1:c0beadca1617 28 private:
ryanlin97 3:a5e71bfdb492 29 PwmOut* x;
ryanlin97 3:a5e71bfdb492 30 PwmOut* y;
ryanlin97 6:0cd57bdd8fbc 31 //chair_BNO055* imu;
ryanlin97 6:0cd57bdd8fbc 32 chair_MPU9250* imu;
ryanlin97 7:5e38d43fbce3 33 Serial* out;
ryanlin97 1:c0beadca1617 34
ryanlin97 0:fc0c4a184482 35 };
ryanlin97 0:fc0c4a184482 36 #endif