Diff: wheelchair.h

Revision:

37:e0e6d3fe06a2

Parent:

35:5a2fed4c2e9f

Child:

41:1a687bcf4b0a

--- a/wheelchair.h	Tue Jul 09 21:19:19 2019 +0000
+++ b/wheelchair.h	Tue Jul 09 23:36:58 2019 +0000
@@ -3,7 +3,7 @@
 /*************************************************************************
 *            Importing libraries into wheelchair.h                       *
 **************************************************************************/
-#include "chair_BNO055.h"
+#include "IMUWheelchair.h"
 #include "PID.h"
 #include "QEI.h"
 #include "VL53L1X.h"
@@ -41,11 +41,11 @@
 /*************************************************************************
 *IMU definitions for turning wheelchair
 **************************************************************************/
-#define WHEELCHAIR_RADIUS 56 //distance from IMU to edge of wheelchair(cm)
-#define  MAX_ANGULAR_DECELERATION 60 //found through testing, max 
+#define WheelchairRadius 80 //distance from IMU to edge of wheelchair(cm)
+#define  maxAngularDeceleration 1.04 //found through testing, max 
                                      //acceleration at which chair can 
-                                     //stop while turning. In degree per sec
-#define MIN_WALL_LENGTH 10 // minimum distance from wall to ToF (cm)
+                                     //stop while turning. In rads per sec
+#define minWallLength 10 // minimum distance from wall to ToF (cm)
 /*************************************************************************
 *                                                                        *
 *                         Wheelchair class                               *
@@ -217,8 +217,10 @@
     double vel;
     double test1, test2;
     bool forwardSafety;
-    bool sideSafety; //to check if can turn
-    double curr_yaw, curr_velS;                                                            // Variable that contains current relative angle
+    bool backwardSafety;//Check if can move backward
+    bool leftSafety; //to check if can turn left
+    bool rightSafety; //to check if can turn right
+    double curr_yaw, curr_velS;// Variable that contains current relative angle
 
 private:
     /************************************************************************
@@ -238,14 +240,12 @@
 
     DigitalIn* e_button;                //Pointer to e_button
 
-    chair_BNO055* imu;                  // Pointer to IMU
+    IMUWheelchair* imu;                  // Pointer to IMU
     Serial* out;                        // Pointer to Serial Monitor
     Timer* ti;                          // Pointer to the timer
     QEI* wheel;                         // Pointer to encoder
     QEI* wheelS;                        // Pointer to encoder
     VL53L1X** ToF;                      // Arrays of pointers to ToF sensors
-    
-    
 
 
 };