Added more code for side and angled sensor
Dependencies: QEI2 PID Watchdog VL53L1X_Filter BNOWrapper ros_lib_kinetic
Diff: wheelchair.h
- Revision:
- 35:5a2fed4c2e9f
- Parent:
- 34:b89967adc86c
- Child:
- 37:e0e6d3fe06a2
diff -r b89967adc86c -r 5a2fed4c2e9f wheelchair.h --- a/wheelchair.h Tue Jul 02 17:49:18 2019 +0000 +++ b/wheelchair.h Tue Jul 09 21:18:01 2019 +0000 @@ -7,12 +7,14 @@ #include "PID.h" #include "QEI.h" #include "VL53L1X.h" -#include "statistics.h" +#include "Statistics.h" #include "Watchdog.h" #include <ros.h> #include <geometry_msgs/Twist.h> #include <nav_msgs/Odometry.h> +#include <std_msgs/Float64.h> +#include <std_msgs/Float64MultiArray.h> /************************************************************************* * Joystick has analog out of 200-700, scale values between 1.3 and 3.3 * @@ -23,6 +25,7 @@ #define low (1.7f/3.3f) // Low power on joystick; used on x and y axis #define offset .03f // Joystick adjustment to be able to go straight. Chair dependent on manufactoring precision #define process .1 // Defines default time delay in seconds + /************************************************************************* *Pin plug-in for Nucleo-L432KC/Compatible with Nucleo-400 series (F767ZI)* **************************************************************************/ @@ -218,12 +221,12 @@ double curr_yaw, curr_velS; // Variable that contains current relative angle private: + /************************************************************************ + * Expected data used to compare whether of not there is a ledge. * + * This serves as a ground base. Array is used for calibrating the * + * time of flight sensors, which is used to calculate stdev and mean on * + ************************************************************************/ int runningAverage[4]; - // Expected data used to compare whether of not there is a ledge. This serves as a ground base - // Array is used for calibrating the time of flight sensors - // Used to calculate stdev and mean on - - /* Pointers for the joystick speed */ PwmOut* x;