File content as of revision 11:e5823b1f5268:

    
    #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 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 {
                    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();
        }
    }