Added more code for side and angled sensor

Dependencies:   QEI2 PID Watchdog VL53L1X_Filter BNOWrapper ros_lib_kinetic

Files at this revision

API Documentation at this revision

Comitter:
ryanlin97
Date:
Thu Jul 12 19:06:33 2018 +0000
Parent:
0:fc0c4a184482
Child:
2:c2d049efc266
Commit message:
symbol__user)perthread_libspace multiply defined(by /build/mbed-os.....)

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
wheelchair.cpp Show annotated file Show diff for this revision Revisions of this file
wheelchair.h Show annotated file Show diff for this revision Revisions of this file
--- a/main.cpp	Thu Jul 12 18:36:09 2018 +0000
+++ b/main.cpp	Thu Jul 12 19:06:33 2018 +0000
@@ -8,68 +8,68 @@
 DigitalOut down(D3);
 int main(void)
 {
-/*    Wheelchair smart(xDir,yDir);
+    Wheelchair smart(xDir,yDir);
     on = 1;
-    while(1){
-    if( pc.readable()) {
-        char c = pc.getc();
-        if( c == 'w') {
-            pc.printf("up \n");
-            smart.forward(); 
+    while(1) {
+        if( pc.readable()) {
+            char c = pc.getc();
+            if( c == 'w') {
+                pc.printf("up \n");
+                smart.forward();
             }
-        
-        else if( c == 'd') {
-            pc.printf("left \n");
-            smart.left();
+
+            else if( c == 'd') {
+                pc.printf("left \n");
+                smart.left();
             }
-        
-        else if( c == 'a') {
-            pc.printf("right \n");
-            smart.right();
+
+            else if( c == 'a') {
+                pc.printf("right \n");
+                smart.right();
             }
-        
-        else if( c == 's') {
-            pc.printf("down \n");
-            smart.backward();
+
+            else if( c == 's') {
+                pc.printf("down \n");
+                smart.backward();
             }
-        
-        else {
-            pc.printf("none \n");
-            smart.stop();
-            if( c == 'o') {
-               pc.printf("turning on");
-               on = 0;
-               wait(process);
-               on = 1; 
+
+            else {
+                pc.printf("none \n");
+                smart.stop();
+                if( c == 'o') {
+                    pc.printf("turning on");
+                    on = 0;
+                    wait(process);
+                    on = 1;
                 }
-            
-            else if( c == 'k') {
-                off = 0;
-                wait(process);
-                off = 1;
+
+                else if( c == 'k') {
+                    off = 0;
+                    wait(process);
+                    off = 1;
                 }
-        
-            else if( c == 'u') {
-                up = 0;
-                wait(process);
-                up = 1;
+
+                else if( c == 'u') {
+                    up = 0;
+                    wait(process);
+                    up = 1;
                 }
-        
-            else if( c == 'p') {
-                down = 0;
-                wait(process);
-                down = 1;
+
+                else if( c == 'p') {
+                    down = 0;
+                    wait(process);
+                    down = 1;
                 }
             }
-           }
-           
-    else {
-       pc.printf("nothing pressed \n");
-       smart.stop();
-            }
-    
-    wait(process);
-       }
-*/
+        }
+
+        else {
+            pc.printf("nothing pressed \n");
+            smart.stop();
+        }
+
+        wait(process);
+    }
+
 }
 
--- a/wheelchair.cpp	Thu Jul 12 18:36:09 2018 +0000
+++ b/wheelchair.cpp	Thu Jul 12 19:06:33 2018 +0000
@@ -1,34 +1,41 @@
 #include "wheelchair.h"
-/*
-Wheelchair::Wheelchair(PinName xPin, PinName yPin){
-       x = new AnalogOut(xPin);
-       y = new AnalogOut(yPin);       
-    }
+
+Wheelchair::Wheelchair(PinName xPin, PinName yPin)
+{
+    x = new AnalogOut(xPin);
+    y = new AnalogOut(yPin);
+}
 
-void Wheelchair::move(float degrees){
-    }
-    
-void Wheelchair::forward(){
+void Wheelchair::move(float degrees)
+{
+}
+
+void Wheelchair::forward()
+{
     x->write(high);
     y->write(def);
 }
 
-void Wheelchair::backward(){
+void Wheelchair::backward()
+{
     x->write(low);
     y->write(def);
 }
 
-void Wheelchair::right(){
+void Wheelchair::right()
+{
     x->write(def);
     y->write(high);
 }
 
-void Wheelchair::left(){
+void Wheelchair::left()
+{
     x->write(def);
     y->write(low);
 }
 
-void Wheelchair::stop(){ 
+void Wheelchair::stop()
+{
     x->write(def);
     y->write(def);
-}*/
\ No newline at end of file
+}
\ No newline at end of file
--- a/wheelchair.h	Thu Jul 12 18:36:09 2018 +0000
+++ b/wheelchair.h	Thu Jul 12 19:06:33 2018 +0000
@@ -13,17 +13,17 @@
 class Wheelchair
 {
 public:
-    /*Wheelchair(PinName xPin, PinName yPin);
-      void move(float degrees);
-      void forward();
-      void backward();
-      void right();
-      void left();
-      void stop();
+    Wheelchair(PinName xPin, PinName yPin);
+    void move(float degrees);
+    void forward();
+    void backward();
+    void right();
+    void left();
+    void stop();
 
-    private:
-      AnalogOut* x;
-      AnalogOut* y;
-    */
+private:
+    AnalogOut* x;
+    AnalogOut* y;
+
 };
 #endif
\ No newline at end of file