Added more code for side and angled sensor
Dependencies: QEI2 PID Watchdog VL53L1X_Filter BNOWrapper ros_lib_kinetic
Diff: wheelchair.h
- Revision:
- 33:f3585571f11e
- Parent:
- 30:c25b2556e84d
- Child:
- 34:b89967adc86c
diff -r fb26baa75d44 -r f3585571f11e wheelchair.h --- a/wheelchair.h Mon Jul 01 23:35:39 2019 +0000 +++ b/wheelchair.h Tue Jul 02 16:40:41 2019 +0000 @@ -18,19 +18,19 @@ * Joystick has analog out of 200-700, scale values between 1.3 and 3.3 * * Here are some global constants for joystick * **************************************************************************/ -#define def (2.5f/3.3f) //Default axis on joystick to stay neutral; used on x and y axis -#define high 3.3f/3.3f //High power on joystick; used on x and y axis -#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 +#define def (2.5f/3.3f) // Default axis on joystick to stay neutral; used on x and y axis +#define high 3.3f/3.3f // High power on joystick; used on x and y axis +#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)* **************************************************************************/ -#define xDir PA_6 //* PWM Pins */ +#define xDir PA_6 // PWM Pins #define yDir PA_5 -#define Encoder1 D7 //*Digital In Pull Up Pin */ +#define Encoder1 D7 // Digital In Pull Up Pin #define Encoder2 D8 -#define Diameter 31.75 //Diameter of encoder wheel +#define Diameter 31.75 // Diameter of encoder wheel #define maxDecelerationSlow 120 #define maxDecelerationFast 30 #define ToFSensorNum 12