Affordable Smart Wheelchair / Mbed OS Integrated

Integration of wheelchair control code, emergency button code and watchdog code

Dependencies:   wheelchaircontrol3 Watchdog ros_lib_kinetic

main.cpp@13:75b82b676bf9, 2019-06-26 (annotated)

Committer:
t1jain
Date:
Wed Jun 26 22:58:54 2019 +0000
Revision:
13:75b82b676bf9
Parent:
12:14cac8544c97 
Cleaned up Integration Code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
t1jain 12:14cac8544c97 1
t1jain 12:14cac8544c97 2 #include "mbed.h"
t1jain 12:14cac8544c97 3 #include <ros.h>
t1jain 12:14cac8544c97 4 #include <nav_msgs/Odometry.h> //contains both the twist and pose
t1jain 12:14cac8544c97 5 #include "Watchdog.h"
t1jain 12:14cac8544c97 6 #include "wheelchair.h"
t1jain 12:14cac8544c97 7 #include "rtos.h"
ryanlin97 0:7e6b349182bc 8
t1jain 12:14cac8544c97 9 double watchdogLimit = 1.00; // Set timeout limit for watchdog timer
t1jain 12:14cac8544c97 10 int buttonCheck = 0;
t1jain 12:14cac8544c97 11 //DigitalIn button(D4, PullDown);
t1jain 12:14cac8544c97 12 //DigitalOut signal(D5);
t1jain 12:14cac8544c97 13
t1jain 12:14cac8544c97 14 QEI wheel (D10, D9, NC, 1200); // Initializes right encoder
t1jain 12:14cac8544c97 15 DigitalIn pt3(D10, PullUp); // Pull up resistors to read analog signals into digital signals
t1jain 12:14cac8544c97 16 DigitalIn pt4(D9, PullUp);
ryanlin97 0:7e6b349182bc 17
ryanlin97 5:90bf5f0d86e9 18
t1jain 12:14cac8544c97 19 /*added*/
t1jain 12:14cac8544c97 20 //DigitalIn e_button(D4); // Emergency button will start at HIGH
t1jain 11:e5823b1f5268 21
t1jain 12:14cac8544c97 22 QEI wheelS (D7, D8, NC, 1200); // Initializes Left encoder
t1jain 12:14cac8544c97 23 DigitalIn pt1(D7, PullUp); // Pull up resistors to read analog signals into digital signals
t1jain 12:14cac8544c97 24 DigitalIn pt2(D8, PullUp);
t1jain 11:e5823b1f5268 25
t1jain 12:14cac8544c97 26 int max_velocity;
t1jain 12:14cac8544c97 27 //Timer testAccT;
t1jain 11:e5823b1f5268 28
t1jain 12:14cac8544c97 29 AnalogIn x(A0); // Initializes analog axis for the joystick
t1jain 12:14cac8544c97 30 AnalogIn y(A1);
t1jain 11:e5823b1f5268 31
t1jain 12:14cac8544c97 32 DigitalOut up(D12); // Turn up speed mode for joystick
t1jain 12:14cac8544c97 33 DigitalOut down(D13); // Turn down speed mode for joystick
t1jain 12:14cac8544c97 34 DigitalOut on(D14); // Turn Wheelchair On
t1jain 12:14cac8544c97 35 DigitalOut off(D15); // Turn Wheelchair Off
t1jain 12:14cac8544c97 36 bool manual = false; // Turns chair joystic to automatic and viceverza
jvfausto 9:ca11e4db63a7 37
t1jain 12:14cac8544c97 38 Serial pc(USBTX, USBRX, 57600); // Serial Monitor
t1jain 11:e5823b1f5268 39
t1jain 12:14cac8544c97 40 VL53L1X sensor1(PB_11, PB_10, D0); // initializes ToF sensors
t1jain 12:14cac8544c97 41 VL53L1X sensor2(PB_11, PB_10, D1);
t1jain 12:14cac8544c97 42 VL53L1X sensor3(PB_11, PB_10, D2);
t1jain 12:14cac8544c97 43 VL53L1X sensor4(PB_11, PB_10, D3);
t1jain 12:14cac8544c97 44 VL53L1X sensor5(PB_11, PB_10, D4);
t1jain 12:14cac8544c97 45 VL53L1X sensor6(PB_11, PB_10, D5);
t1jain 12:14cac8544c97 46 VL53L1X sensor7(PB_11, PB_10, PE_14);
t1jain 12:14cac8544c97 47 VL53L1X sensor8(PB_11, PB_10, PE_12);
t1jain 12:14cac8544c97 48 VL53L1X sensor9(PB_11, PB_10, PE_10);
t1jain 12:14cac8544c97 49 VL53L1X sensor10(PB_11, PB_10, PE_15);
t1jain 12:14cac8544c97 50 VL53L1X sensor11(PB_11, PB_10, D6);
t1jain 12:14cac8544c97 51 VL53L1X sensor12(PB_11, PB_10, D11);
t1jain 11:e5823b1f5268 52
t1jain 12:14cac8544c97 53 VL53L1X* ToF[12] = {&sensor1, &sensor2, &sensor3, &sensor4, &sensor5, &sensor6,
t1jain 12:14cac8544c97 54 &sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12}; //puts ToF sensor pointers into an array
t1jain 12:14cac8544c97 55 VL53L1X** ToFT = ToF;
jvfausto 9:ca11e4db63a7 56
t1jain 12:14cac8544c97 57 Timer t; // Initialize time object t
t1jain 12:14cac8544c97 58 EventQueue queue; // Class to organize threads
t1jain 12:14cac8544c97 59 Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS, ToFT); //Initialize wheelchair object
t1jain 12:14cac8544c97 60 Thread compass; // Thread for compass
t1jain 12:14cac8544c97 61 Thread velocity; // Thread for velosity
t1jain 12:14cac8544c97 62 Thread assistSafe; // Thread for safety stuff
t1jain 12:14cac8544c97 63 Thread emergencyButton; // Thread to check button state and reset device
t1jain 12:14cac8544c97 64
t1jain 11:e5823b1f5268 65 // void emergencyButton () {
t1jain 11:e5823b1f5268 66 // while(1) {
t1jain 11:e5823b1f5268 67 // signal = 0;
t1jain 11:e5823b1f5268 68 // while(!button) {
t1jain 11:e5823b1f5268 69 //
t1jain 11:e5823b1f5268 70 // //Send something to stop wheelchair
t1jain 11:e5823b1f5268 71 // signal = 1;
t1jain 11:e5823b1f5268 72 //
t1jain 11:e5823b1f5268 73 // pc.printf("Hello there!\n");
t1jain 11:e5823b1f5268 74 // pc.printf("I'm dead\n\n\n");
t1jain 11:e5823b1f5268 75 //
t1jain 11:e5823b1f5268 76 // //Reset Board
t1jain 11:e5823b1f5268 77 // NVIC_SystemReset();
t1jain 11:e5823b1f5268 78 //
t1jain 11:e5823b1f5268 79 // }
t1jain 11:e5823b1f5268 80 //
t1jain 11:e5823b1f5268 81 // }
t1jain 11:e5823b1f5268 82 // }
t1jain 12:14cac8544c97 83
t1jain 12:14cac8544c97 84 int main(void) {
t1jain 12:14cac8544c97 85
t1jain 12:14cac8544c97 86 /* nh.initNode();
t1jain 12:14cac8544c97 87 nh.advertise(chatter);
t1jain 12:14cac8544c97 88 nh.advertise(chatter2);
t1jain 12:14cac8544c97 89 nh.subscribe(sub);*/
t1jain 12:14cac8544c97 90 //testAccT.start();
t1jain 12:14cac8544c97 91
t1jain 11:e5823b1f5268 92
t1jain 12:14cac8544c97 93
t1jain 12:14cac8544c97 94 pc.printf("Before starting\r\n");
t1jain 12:14cac8544c97 95 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); // Sets up sampling frequency of the compass_thread
t1jain 12:14cac8544c97 96 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); // Sets up sampling frequency of the velosity_thread
t1jain 12:14cac8544c97 97 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::assistSafe_thread); // Sets up sampling frequency of the velosity_thread
t1jain 12:14cac8544c97 98 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::emergencyButton_thread); // Sets up sampling frequency of the velosity_thread
t1jain 12:14cac8544c97 99
t1jain 12:14cac8544c97 100 //queue.call_every(200, rosCom_thread); //Sets up sampling frequency of the velosity_thread
t1jain 11:e5823b1f5268 101
t1jain 12:14cac8544c97 102 t.reset();
t1jain 12:14cac8544c97 103 compass.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the compass thread
t1jain 12:14cac8544c97 104 velocity.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the velosity thread
t1jain 12:14cac8544c97 105 assistSafe.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the velosity thread
t1jain 12:14cac8544c97 106 emergencyButton.start(callback(&queue, &EventQueue::dispatch_forever));
t1jain 12:14cac8544c97 107
t1jain 12:14cac8544c97 108 //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the velosity thread
t1jain 12:14cac8544c97 109 pc.printf("After starting\r\n");
t1jain 11:e5823b1f5268 110
t1jain 12:14cac8544c97 111 //added
t1jain 12:14cac8544c97 112 // int emerg_button = e_button;
t1jain 12:14cac8544c97 113
t1jain 12:14cac8544c97 114 Watchdog dog;
t1jain 12:14cac8544c97 115 dog.Configure(watchdogLimit);
t1jain 12:14cac8544c97 116 pc.printf("Code initiated/reset");
t1jain 12:14cac8544c97 117
t1jain 12:14cac8544c97 118 int set = 0;
t1jain 12:14cac8544c97 119 while(1) {
t1jain 12:14cac8544c97 120 if( pc.readable()) {
t1jain 12:14cac8544c97 121 set = 1;
t1jain 12:14cac8544c97 122 char c = pc.getc(); // Read the instruction sent
t1jain 12:14cac8544c97 123 if( c == 'w') {
t1jain 12:14cac8544c97 124 smart.forward(); // Move foward
t1jain 11:e5823b1f5268 125
t1jain 12:14cac8544c97 126 }
t1jain 12:14cac8544c97 127 else if( c == 'a') {
t1jain 12:14cac8544c97 128 smart.left(); // Turn left
t1jain 12:14cac8544c97 129 }
t1jain 12:14cac8544c97 130 else if( c == 'd') {
t1jain 12:14cac8544c97 131 smart.right(); // Turn right
t1jain 12:14cac8544c97 132 }
t1jain 12:14cac8544c97 133 else if( c == 's') {
t1jain 12:14cac8544c97 134 smart.backward(); // Turn backwards
t1jain 12:14cac8544c97 135 }
t1jain 12:14cac8544c97 136 else if( c == 't') {
t1jain 12:14cac8544c97 137 smart.pid_twistA();
t1jain 12:14cac8544c97 138 }
t1jain 12:14cac8544c97 139 else if(c == 'v'){
t1jain 12:14cac8544c97 140 smart.showOdom();
t1jain 12:14cac8544c97 141 }
t1jain 12:14cac8544c97 142 else if(c == 'o') { // Turns on chair
t1jain 12:14cac8544c97 143 pc.printf("turning on\r\n");
t1jain 12:14cac8544c97 144 on = 1;
t1jain 12:14cac8544c97 145 wait(1);
t1jain 12:14cac8544c97 146 on = 0;
t1jain 12:14cac8544c97 147 }
t1jain 12:14cac8544c97 148 else if(c == 'f') { // Turns off chair
t1jain 12:14cac8544c97 149 pc.printf("turning off\r\n");
t1jain 12:14cac8544c97 150 off = 1;
t1jain 12:14cac8544c97 151 wait(1);
t1jain 12:14cac8544c97 152 off = 0;
t1jain 12:14cac8544c97 153
t1jain 12:14cac8544c97 154 }
t1jain 12:14cac8544c97 155 else if(c == 'k'){ // Sends command to go to the kitchen
t1jain 12:14cac8544c97 156 smart.pid_twistV();
t1jain 12:14cac8544c97 157 }
t1jain 12:14cac8544c97 158 else if( c == 'm' || manual) { // Turns wheelchair to joystick
t1jain 12:14cac8544c97 159 pc.printf("turning on joystick\r\n");
t1jain 12:14cac8544c97 160 manual = true;
t1jain 12:14cac8544c97 161 t.reset();
t1jain 12:14cac8544c97 162 while(manual) {
t1jain 12:14cac8544c97 163 smart.move(x,y); // Reads from joystick and moves
t1jain 12:14cac8544c97 164 if( pc.readable()) {
t1jain 12:14cac8544c97 165 char d = pc.getc();
t1jain 12:14cac8544c97 166 if( d == 'm') { // Turns wheelchair from joystick into auto
t1jain 12:14cac8544c97 167 pc.printf("turning off joystick\r\n");
t1jain 12:14cac8544c97 168 manual = false;
ryanlin97 0:7e6b349182bc 169 }
t1jain 12:14cac8544c97 170 }
t1jain 12:14cac8544c97 171 }
ryanlin97 0:7e6b349182bc 172 }
t1jain 11:e5823b1f5268 173 else {
t1jain 12:14cac8544c97 174 pc.printf("none \r\n");
t1jain 12:14cac8544c97 175 smart.stop(); // If nothing else is happening stop the chair
t1jain 11:e5823b1f5268 176 }
t1jain 12:14cac8544c97 177 }
t1jain 12:14cac8544c97 178 else {
t1jain 12:14cac8544c97 179
t1jain 12:14cac8544c97 180 smart.stop(); // If nothing else is happening stop the chair
t1jain 12:14cac8544c97 181 }
t1jain 11:e5823b1f5268 182
t1jain 12:14cac8544c97 183 wait(process);
t1jain 12:14cac8544c97 184 dog.Service();
t1jain 12:14cac8544c97 185 }
t1jain 12:14cac8544c97 186 }