Affordable Smart Wheelchair
Integration of wheelchair control code, emergency button code and watchdog code
Dependencies: wheelchaircontrol3 Watchdog ros_lib_kinetic
Diff: main.cpp
- Revision:
- 11:e5823b1f5268
- Parent:
- 10:b5f6337c3a20
- Child:
- 12:14cac8544c97
--- a/main.cpp Wed Jun 26 04:21:41 2019 +0000
+++ b/main.cpp Wed Jun 26 18:24:00 2019 +0000
@@ -1,141 +1,185 @@
-#include "wheelchair.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);
-
-
-/*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);
-
-int max_velocity;
-//Timer testAccT;
-
-AnalogIn x(A0); //Initializes analog axis for the joystick
-AnalogIn y(A1);
+
+ #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);
-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
-
-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;
-
-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
+ 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);
-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(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
- //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
- pc.printf("After starting\r\n");
+ /*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);
+
+ int max_velocity;
+ //Timer testAccT;
+
+ 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
- //added
- // int emerg_button = e_button;
-
- 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
+ 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* ToF[12] = {&sensor1, &sensor2, &sensor3, &sensor4, &sensor5, &sensor6,
+ &sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12}; //puts ToF sensor pointers into an array
+ VL53L1X** ToFT = ToF;
- }
- 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;
+ 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;
+// while(!button) {
+//
+// //Send something to stop wheelchair
+// signal = 1;
+//
+// pc.printf("Hello there!\n");
+// pc.printf("I'm dead\n\n\n");
+//
+// //Reset Board
+// NVIC_SystemReset();
+//
+// }
+//
+// }
+// }
+
+ 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
+
+ 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
+
+ }
+ 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 {
+ }
+ }
+ 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
+ else {
+
+ smart.stop(); //If nothing else is happening stop the chair
+ }
+
+ wait(process);
+ dog.Service();
}
-
- wait(process);
- }
-}
-
+ }
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