wheelchair code for driver assitance

Dependencies:   mbed

Fork of wheelchairalexa by ryan lin

wheelchair.h

Committer:
ryanlin97
Date:
23 months ago
Revision:
12:0e5a0571b497
Parent:
11:75f0f13ff6c1

File content as of revision 12:0e5a0571b497:

#ifndef wheelchair
#define wheelchair
#include "mbed.h"

#define turn_precision 10
#define def (2.5f/3.3f)
#define high 3.3f
#define offset .02f
#define low (1.7f/3.3f)
#define process .1
#define xDir D9
#define yDir D10

class Wheelchair
{
public:
    Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time);
    void move(float x_coor, float y_coor, bool, bool, bool);
    double turn_right(int deg);
    double turn_left(int deg);
    void turn(int deg);
    void forward();
    void backward();
    void right();
    void left();
    void stop();
    void compass_thread();

private:
    PwmOut* x;
    PwmOut* y;
    Serial* out;
    Timer* ti;

};
#endif