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?
User | Revision | Line number | New 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 | } |