a
Dependencies: QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic
Dependents: wheelchairControlSumer19 Version1-0
Diff: wheelchair.h
- Revision:
- 34:b89967adc86c
- Parent:
- 33:f3585571f11e
diff -r f3585571f11e -r b89967adc86c wheelchair.h --- 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: