Sheila Pham / Version1-9

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Dependencies:   QEI2 PID Watchdog VL53L1X_Filter BNOWrapper ros_lib_kinetic

wheelchair.cpp@4:29a27953fe70, 2018-07-17 (annotated)

Committer:
ryanlin97
Date:
Tue Jul 17 02:29:26 2018 +0000
Revision:
4:29a27953fe70
Parent:
3:a5e71bfdb492
Child:
5:e0ccaab3959a
beginning imu class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 0:fc0c4a184482 1 #include "wheelchair.h"
ryanlin97 1:c0beadca1617 2
ryanlin97 1:c0beadca1617 3 Wheelchair::Wheelchair(PinName xPin, PinName yPin)
ryanlin97 1:c0beadca1617 4 {
ryanlin97 3:a5e71bfdb492 5 x = new PwmOut(xPin);
ryanlin97 3:a5e71bfdb492 6 y = new PwmOut(yPin);
ryanlin97 1:c0beadca1617 7 }
ryanlin97 3:a5e71bfdb492 8 /*
ryanlin97 3:a5e71bfdb492 9 * joystick has analog out of 200-700, scale values between 1.3 and 3.3
ryanlin97 3:a5e71bfdb492 10 */
ryanlin97 3:a5e71bfdb492 11 void Wheelchair::move(float x_coor, float y_coor)
ryanlin97 1:c0beadca1617 12 {
ryanlin97 4:29a27953fe70 13 printf("raw is %f %f \n", x_coor, y_coor);
ryanlin97 4:29a27953fe70 14 printf("x is %f y is %f \n", ((x_coor*1.6f) + 1.7f), ((y_coor*1.6f) + 1.7f));
ryanlin97 4:29a27953fe70 15 float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
ryanlin97 4:29a27953fe70 16 float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
ryanlin97 4:29a27953fe70 17 x->write(scaled_x);
ryanlin97 4:29a27953fe70 18 y->write(scaled_y);
ryanlin97 3:a5e71bfdb492 19
ryanlin97 1:c0beadca1617 20 }
ryanlin97 1:c0beadca1617 21
ryanlin97 1:c0beadca1617 22 void Wheelchair::forward()
ryanlin97 1:c0beadca1617 23 {
ryanlin97 0:fc0c4a184482 24 x->write(high);
ryanlin97 3:a5e71bfdb492 25 y->write(def+offset);
ryanlin97 0:fc0c4a184482 26 }
ryanlin97 0:fc0c4a184482 27
ryanlin97 1:c0beadca1617 28 void Wheelchair::backward()
ryanlin97 1:c0beadca1617 29 {
ryanlin97 0:fc0c4a184482 30 x->write(low);
ryanlin97 0:fc0c4a184482 31 y->write(def);
ryanlin97 0:fc0c4a184482 32 }
ryanlin97 0:fc0c4a184482 33
ryanlin97 1:c0beadca1617 34 void Wheelchair::right()
ryanlin97 1:c0beadca1617 35 {
ryanlin97 0:fc0c4a184482 36 x->write(def);
ryanlin97 0:fc0c4a184482 37 y->write(high);
ryanlin97 0:fc0c4a184482 38 }
ryanlin97 0:fc0c4a184482 39
ryanlin97 1:c0beadca1617 40 void Wheelchair::left()
ryanlin97 1:c0beadca1617 41 {
ryanlin97 0:fc0c4a184482 42 x->write(def);
ryanlin97 0:fc0c4a184482 43 y->write(low);
ryanlin97 0:fc0c4a184482 44 }
ryanlin97 0:fc0c4a184482 45
ryanlin97 1:c0beadca1617 46 void Wheelchair::stop()
ryanlin97 1:c0beadca1617 47 {
ryanlin97 0:fc0c4a184482 48 x->write(def);
ryanlin97 0:fc0c4a184482 49 y->write(def);
ryanlin97 1:c0beadca1617 50 }