This is the code written for a project which turned a wheelchair into a digital controller for a VR navigation environment.
The code allowed a user to progress through a VR world written in Unity.
The Arduino Device was an Arduino 2560 Mega with AdaFruit_BlueFruit LE NRF51 Shield to connect to rotary encoders attached to the Wheelchair. The code helps output a steady stream of Right or Left or Fwd or Bck instructions by listening to the difference in speed between the 2 wheels. A video fly through of the world can be seen here:
https://vimeo.com/209652203 - Flythrough the world
https://vimeo.com/193615781 - First Person
https://vimeo.com/170078026 - Set up with Mobile/Laptop/Wheelchair