ryan lin
/
wheeldriveassistance
wheelchair code for driver assitance
Fork of wheelchairalexa by
main.cpp
- Committer:
- ryanlin97
- Date:
- 2018-08-17
- Revision:
- 12:0e5a0571b497
- Parent:
- 11:75f0f13ff6c1
File content as of revision 12:0e5a0571b497:
#include "wheelchair.h" AnalogIn x(A0); AnalogIn y(A1); DigitalOut on(D12); DigitalOut off(D11); DigitalOut up(D2); DigitalOut down(D3); bool manual = false; bool leftBound = false; bool rightBound = false; bool straightBound = false; Serial pc(USBTX, USBRX, 9600); Timer t; Wheelchair smart(xDir,yDir, &pc, &t); int main(void) { smart.stop(); while(1) { pc.printf("turning on joystick\n"); manual = true; t.reset(); while(manual) { smart.move(x,y,leftBound,rightBound,straightBound); if( pc.readable()) { char d = pc.getc(); if( d == 'l') { leftBound = true; } if (d == 'e') { leftBound = false; } if( d == 'f') { straightBound = true; } if (d == 'o') { straightBound = false; } if( d == 'r') { rightBound = true; } if( d == 'i') { rightBound = false; } if( d == 'm') { pc.printf("turning off joystick\n"); manual = false; } } } } wait(process); }