HALL ROCKER-BASED ELECTRIC WHEELCHAIR CONTROL METHOD AND ELECTRIC WHEELCHAIR

摘要

A hall rocker-based electric wheelchair control method, the method comprising: acquiring a first command value by adding the Y-axis offset of the hall rocker and m times the X-axis offset of the hall rocker, and acquiring a second command value by subtracting n times the X-axis offset from the Y-axis offset. The first command value is used for determining the PWM value and the rotation direction of a left motor and the second command value is used for determining the PWM value and the rotation direction of a right motor. That is to say, the running method of the electric wheelchair is determined by dividing a plane into eight sections on the basis of the X-axis, the Y-axis, Y=-mX and Y=nX of the hall rocker, solving the problem in the prior art that determining the running method by dividing a plane into four sections using the X-axis and the Y-axis of the hall rocker is too simple to satisfy the requirements of a user for diversification and comfort, allowing the wheelchair to run more flexibly and have more developed functions.