Affordable Smart Wheelchair
Integration of wheelchair control code, emergency button code and watchdog code
Dependencies: wheelchaircontrol3 Watchdog ros_lib_kinetic
Diff: main.cpp
- Revision:
- 12:14cac8544c97
- Parent:
- 11:e5823b1f5268
--- a/main.cpp Wed Jun 26 18:24:00 2019 +0000
+++ b/main.cpp Wed Jun 26 20:28:04 2019 +0000
@@ -1,67 +1,67 @@
-
- #include "mbed.h"
- #include <ros.h>
- #include <nav_msgs/Odometry.h> //contains both the twist and pose
- #include "Watchdog.h"
- #include "wheelchair.h"
- #include "rtos.h"
-
- double watchdogLimit = 1.00; // Set timeout limit for watchdog timer
- int buttonCheck = 0;
- //DigitalIn button(D4, PullDown);
- //DigitalOut signal(D5);
+
+#include "mbed.h"
+#include <ros.h>
+#include <nav_msgs/Odometry.h> //contains both the twist and pose
+#include "Watchdog.h"
+#include "wheelchair.h"
+#include "rtos.h"
- QEI wheel (D10, D9, NC, 1200); // Initializes right encoder
- DigitalIn pt3(D10, PullUp); // Pull up resistors to read analog signals into digital signals
- DigitalIn pt4(D9, PullUp);
+double watchdogLimit = 1.00; // Set timeout limit for watchdog timer
+int buttonCheck = 0;
+//DigitalIn button(D4, PullDown);
+//DigitalOut signal(D5);
+
+QEI wheel (D10, D9, NC, 1200); // Initializes right encoder
+DigitalIn pt3(D10, PullUp); // Pull up resistors to read analog signals into digital signals
+DigitalIn pt4(D9, PullUp);
- /*added*/
- //DigitalIn e_button(D4); // Emergency button will start at HIGH
+/*added*/
+//DigitalIn e_button(D4); // Emergency button will start at HIGH
- QEI wheelS (D7, D8, NC, 1200); // Initializes Left encoder
- DigitalIn pt1(D7, PullUp); // Pull up resistors to read analog signals into digital signals
- DigitalIn pt2(D8, PullUp);
+QEI wheelS (D7, D8, NC, 1200); // Initializes Left encoder
+DigitalIn pt1(D7, PullUp); // Pull up resistors to read analog signals into digital signals
+DigitalIn pt2(D8, PullUp);
- int max_velocity;
- //Timer testAccT;
+int max_velocity;
+//Timer testAccT;
- AnalogIn x(A0); // Initializes analog axis for the joystick
- AnalogIn y(A1);
+AnalogIn x(A0); // Initializes analog axis for the joystick
+AnalogIn y(A1);
- DigitalOut up(D12); // Turn up speed mode for joystick
- DigitalOut down(D13); // Turn down speed mode for joystick
- DigitalOut on(D14); // Turn Wheelchair On
- DigitalOut off(D15); // Turn Wheelchair Off
- bool manual = false; // Turns chair joystic to automatic and viceverza
+DigitalOut up(D12); // Turn up speed mode for joystick
+DigitalOut down(D13); // Turn down speed mode for joystick
+DigitalOut on(D14); // Turn Wheelchair On
+DigitalOut off(D15); // Turn Wheelchair Off
+bool manual = false; // Turns chair joystic to automatic and viceverza
- Serial pc(USBTX, USBRX, 57600); // Serial Monitor
+Serial pc(USBTX, USBRX, 57600); // Serial Monitor
- VL53L1X sensor1(PB_11, PB_10, D0); // initializes ToF sensors
- VL53L1X sensor2(PB_11, PB_10, D1);
- VL53L1X sensor3(PB_11, PB_10, D2);
- VL53L1X sensor4(PB_11, PB_10, D3);
- VL53L1X sensor5(PB_11, PB_10, D4);
- VL53L1X sensor6(PB_11, PB_10, D5);
- VL53L1X sensor7(PB_11, PB_10, PE_14);
- VL53L1X sensor8(PB_11, PB_10, PE_12);
- VL53L1X sensor9(PB_11, PB_10, PE_10);
- VL53L1X sensor10(PB_11, PB_10, PE_15);
- VL53L1X sensor11(PB_11, PB_10, D6);
- VL53L1X sensor12(PB_11, PB_10, D11);
+VL53L1X sensor1(PB_11, PB_10, D0); // initializes ToF sensors
+VL53L1X sensor2(PB_11, PB_10, D1);
+VL53L1X sensor3(PB_11, PB_10, D2);
+VL53L1X sensor4(PB_11, PB_10, D3);
+VL53L1X sensor5(PB_11, PB_10, D4);
+VL53L1X sensor6(PB_11, PB_10, D5);
+VL53L1X sensor7(PB_11, PB_10, PE_14);
+VL53L1X sensor8(PB_11, PB_10, PE_12);
+VL53L1X sensor9(PB_11, PB_10, PE_10);
+VL53L1X sensor10(PB_11, PB_10, PE_15);
+VL53L1X sensor11(PB_11, PB_10, D6);
+VL53L1X sensor12(PB_11, PB_10, D11);
- VL53L1X* ToF[12] = {&sensor1, &sensor2, &sensor3, &sensor4, &sensor5, &sensor6,
- &sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12}; //puts ToF sensor pointers into an array
- VL53L1X** ToFT = ToF;
+VL53L1X* ToF[12] = {&sensor1, &sensor2, &sensor3, &sensor4, &sensor5, &sensor6,
+&sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12}; //puts ToF sensor pointers into an array
+VL53L1X** ToFT = ToF;
- Timer t; // Initialize time object t
- EventQueue queue; // Class to organize threads
- Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS, ToFT); //Initialize wheelchair object
- Thread compass; // Thread for compass
- Thread velocity; // Thread for velosity
- Thread assistSafe; // Thread for safety stuff
- Thread emergencyButton; // Thread to check button state and reset device
-
+Timer t; // Initialize time object t
+EventQueue queue; // Class to organize threads
+Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS, ToFT); //Initialize wheelchair object
+Thread compass; // Thread for compass
+Thread velocity; // Thread for velosity
+Thread assistSafe; // Thread for safety stuff
+Thread emergencyButton; // Thread to check button state and reset device
+
// void emergencyButton () {
// while(1) {
// signal = 0;
@@ -80,106 +80,107 @@
//
// }
// }
+
+int main(void) {
+
+ /* nh.initNode();
+ nh.advertise(chatter);
+ nh.advertise(chatter2);
+ nh.subscribe(sub);*/
+//testAccT.start();
+
- int main(void) {
- /* nh.initNode();
- nh.advertise(chatter);
- nh.advertise(chatter2);
- nh.subscribe(sub);*/
- //testAccT.start();
+
+ pc.printf("Before starting\r\n");
+ queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); // Sets up sampling frequency of the compass_thread
+ queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); // Sets up sampling frequency of the velosity_thread
+ queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::assistSafe_thread); // Sets up sampling frequency of the velosity_thread
+ queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::emergencyButton_thread); // Sets up sampling frequency of the velosity_thread
+
+ //queue.call_every(200, rosCom_thread); //Sets up sampling frequency of the velosity_thread
-
-
- pc.printf("Before starting\r\n");
- queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); //Sets up sampling frequency of the compass_thread
- queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); //Sets up sampling frequency of the velosity_thread
- queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::assistSafe_thread); //Sets up sampling frequency of the velosity_thread
- queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::emergencyButton_thread); //Sets up sampling frequency of the velosity_thread
-
- //queue.call_every(200, rosCom_thread); //Sets up sampling frequency of the velosity_thread
-
- t.reset();
- compass.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the compass thread
- velocity.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
- assistSafe.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
- emergencyButton.start(callback(&queue, &EventQueue::dispatch_forever));
-
- //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
- pc.printf("After starting\r\n");
+ t.reset();
+ compass.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the compass thread
+ velocity.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the velosity thread
+ assistSafe.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the velosity thread
+ emergencyButton.start(callback(&queue, &EventQueue::dispatch_forever));
+
+ //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the velosity thread
+ pc.printf("After starting\r\n");
- //added
- // int emerg_button = e_button;
-
- Watchdog dog;
- dog.Configure(watchdogLimit);
- pc.printf("Code initiated/reset");
-
- int set = 0;
- while(1) {
- if( pc.readable()) {
- set = 1;
- char c = pc.getc(); //Read the instruction sent
- if( c == 'w') {
- smart.forward(); //Move foward
+ //added
+ // int emerg_button = e_button;
+
+ Watchdog dog;
+ dog.Configure(watchdogLimit);
+ pc.printf("Code initiated/reset");
+
+ int set = 0;
+ while(1) {
+ if( pc.readable()) {
+ set = 1;
+ char c = pc.getc(); // Read the instruction sent
+ if( c == 'w') {
+ smart.forward(); // Move foward
- }
- else if( c == 'a') {
- smart.left(); //Turn left
- }
- else if( c == 'd') {
- smart.right(); //Turn right
- }
- else if( c == 's') {
- smart.backward(); //Turn rackwards
- }
- else if( c == 't') {
- smart.pid_twistA();
- }
- else if(c == 'v'){
- smart.showOdom();
- }
- else if(c == 'o') { //Turns on chair
- pc.printf("turning on\r\n");
- on = 1;
- wait(1);
- on = 0;
- }
- else if(c == 'f') { //Turns off chair
- pc.printf("turning off\r\n");
- off = 1;
- wait(1);
- off = 0;
-
- }
- else if(c == 'k'){ //Sends command to go to the kitchen
- smart.pid_twistV();
- }
- else if( c == 'm' || manual) { //Turns wheelchair to joystick
- pc.printf("turning on joystick\r\n");
- manual = true;
- t.reset();
- while(manual) {
- smart.move(x,y); //Reads from joystick and moves
- if( pc.readable()) {
- char d = pc.getc();
- if( d == 'm') { //Turns wheelchair from joystick into auto
- pc.printf("turning off joystick\r\n");
- manual = false;
- }
+ }
+ else if( c == 'a') {
+ smart.left(); // Turn left
+ }
+ else if( c == 'd') {
+ smart.right(); // Turn right
+ }
+ else if( c == 's') {
+ smart.backward(); // Turn backwards
+ }
+ else if( c == 't') {
+ smart.pid_twistA();
+ }
+ else if(c == 'v'){
+ smart.showOdom();
+ }
+ else if(c == 'o') { // Turns on chair
+ pc.printf("turning on\r\n");
+ on = 1;
+ wait(1);
+ on = 0;
+ }
+ else if(c == 'f') { // Turns off chair
+ pc.printf("turning off\r\n");
+ off = 1;
+ wait(1);
+ off = 0;
+
+ }
+ else if(c == 'k'){ // Sends command to go to the kitchen
+ smart.pid_twistV();
+ }
+ else if( c == 'm' || manual) { // Turns wheelchair to joystick
+ pc.printf("turning on joystick\r\n");
+ manual = true;
+ t.reset();
+ while(manual) {
+ smart.move(x,y); // Reads from joystick and moves
+ if( pc.readable()) {
+ char d = pc.getc();
+ if( d == 'm') { // Turns wheelchair from joystick into auto
+ pc.printf("turning off joystick\r\n");
+ manual = false;
}
- }
- }
- else {
- pc.printf("none \r\n");
- smart.stop(); //If nothing else is happening stop the chair
- }
+ }
+ }
}
else {
-
- smart.stop(); //If nothing else is happening stop the chair
+ pc.printf("none \r\n");
+ smart.stop(); // If nothing else is happening stop the chair
}
+ }
+ else {
+
+ smart.stop(); // If nothing else is happening stop the chair
+ }
- wait(process);
- dog.Service();
- }
- }
\ No newline at end of file
+ wait(process);
+ dog.Service();
+ }
+}
\ No newline at end of file