Diff: wheelchair.h

Revision:

19:71a6621ee5c3

Parent:

17:7f3b69300bb6

Child:

20:f42db4ae16f0

--- a/wheelchair.h	Wed Aug 29 16:51:33 2018 +0000
+++ b/wheelchair.h	Fri Aug 31 17:09:56 2018 +0000
@@ -13,7 +13,7 @@
 #define turn_precision 10
 #define def (2.5f/3.3f)
 #define high 3.3f/3.3f
-#define offset .02f
+#define offset .0254f
 #define low (1.7f/3.3f)
 #define process .1
 
@@ -42,7 +42,7 @@
     /** Create Wheelchair Object with x,y pin for analog dc output
      * serial for printout, and timer
      */
-    Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time);
+    Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* wheel);
     
     /** move using the joystick */
     void move(float x_coor, float y_coor);
@@ -80,12 +80,14 @@
     /* function to get imu data*/
     void compass_thread();
     void distance_thread();
-    void pid_foward(double mm);
+    void pid_forward(double mm);
     void pid_reverse(double mm);
     float getDistance();
     void resetDistance();
     void pid_turn(int deg);
-    
+    void desk();
+    void kitchen();
+    void desk_to_kitchen();
 private:
     PwmOut* x;
     PwmOut* y;