Added variable Test SideToF sensore
Dependencies: QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic
Diff: wheelchair.h
- Revision:
- 33:92afe7ffdecc
- Parent:
- 30:c25b2556e84d
--- a/wheelchair.h Mon Jul 01 23:35:39 2019 +0000 +++ b/wheelchair.h Tue Jul 02 00:42:05 2019 +0000 @@ -36,6 +36,14 @@ #define ToFSensorNum 12 /************************************************************************* +*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 + //acceleration at which chair can + //stop while turning. In degree per sec +#define MIN_WALL_LENGTH 10 // minimum distance from wall to ToF (cm) +/************************************************************************* * * * Wheelchair class * * Used for controlling the Smart Wheelchair * @@ -206,6 +214,7 @@ 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 private: