ryan lin / Mbed 2 deprecated wheeldriveassistance

wheelchair code for driver assitance

Dependencies:   mbed

Fork of wheelchairalexa by ryan lin

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wheelchair.h

00001 #ifndef wheelchair
00002 #define wheelchair
00003 #include "mbed.h"
00004 
00005 #define turn_precision 10
00006 #define def (2.5f/3.3f)
00007 #define high 3.3f
00008 #define offset .02f
00009 #define low (1.7f/3.3f)
00010 #define process .1
00011 #define xDir D9
00012 #define yDir D10
00013 
00014 class Wheelchair
00015 {
00016 public:
00017     Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time);
00018     void move(float x_coor, float y_coor, bool, bool, bool);
00019     double turn_right(int deg);
00020     double turn_left(int deg);
00021     void turn(int deg);
00022     void forward();
00023     void backward();
00024     void right();
00025     void left();
00026     void stop();
00027     void compass_thread();
00028 
00029 private:
00030     PwmOut* x;
00031     PwmOut* y;
00032     Serial* out;
00033     Timer* ti;
00034 
00035 };
00036 #endif
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