Diff: wheelchair.h

Revision:

34:b89967adc86c

Parent:

33:f3585571f11e

--- a/wheelchair.h	Tue Jul 02 16:40:41 2019 +0000
+++ b/wheelchair.h	Tue Jul 02 17:49:18 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: