File content as of revision 13:75b82b676bf9:

#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);

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);

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
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 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
        }

        wait(process);
        dog.Service();
    }
}