![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Collated code with down ToF, side ToF, Emergency Button, Watchdog
Dependencies: wheelchaircontrol
Diff: main.cpp
- Revision:
- 7:04f93e6b929f
- Parent:
- 6:e9b1684a9c00
- Child:
- 8:db780b392bae
--- a/main.cpp Wed Aug 15 17:13:55 2018 +0000 +++ b/main.cpp Wed Aug 29 16:53:41 2018 +0000 @@ -7,7 +7,6 @@ DigitalOut down(D3); DigitalOut on(D12); DigitalOut off(D11); - bool manual = false; Serial pc(USBTX, USBRX, 57600); @@ -18,41 +17,44 @@ //MPU9250 imu(D14, D15); Wheelchair smart(xDir,yDir, &pc, &t); Thread thread; +Thread thread2; int main(void) { queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); + queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::distance_thread); t.reset(); thread.start(callback(&queue, &EventQueue::dispatch_forever)); + thread2.start(callback(&queue, &EventQueue::dispatch_forever)); + // thread2.start(callback(&queue, &EventQueue::dispatch_forever)); while(1) { if( pc.readable()) { char c = pc.getc(); - if( c == 'w') { - pc.printf("up \n"); + //pc.printf("up \r\n"); smart.forward(); } else if( c == 'a') { - //pc.printf("left \n"); + //pc.printf("left \r\n"); smart.left(); } else if( c == 'd') { - //pc.printf("right \n"); + //pc.printf("right \r\n"); smart.right(); } else if( c == 's') { - pc.printf("down \n"); + //pc.printf("down \r\n"); smart.backward(); } else if( c == 'r') { smart.turn_right(90); } - + else if( c == 'l') { smart.turn_left(90); } @@ -60,27 +62,37 @@ else if( c == 't') { char buffer[256]; pc.printf ("Enter a long number: "); - fgets (buffer, 256, stdin); - int angle = atoi (buffer); + //fgets (buffer, 256, stdin); + int angle = 90;//atoi (buffer); if(angle == 0) { - pc.printf("invalid input try again\n"); + pc.printf("invalid input try again\r\n"); } else { smart.pid_turn(angle); } } else if(c == 'o') { - pc.printf("turning on\n"); + pc.printf("turning on\r\n"); on = 1; wait(1); on = 0; } else if(c == 'f') { - pc.printf("turning off\n"); + pc.printf("turning off\r\n"); off = 1; wait(1); off = 0; + } else if(c == 'u') { + double displacement = -1000; + if(displacement > 0) + { + smart.pid_foward(displacement); + } + else if(displacement < 0) + { + smart.pid_reverse(displacement); + } } else if( c == 'm' || manual) { - pc.printf("turning on joystick\n"); + pc.printf("turning on joystick\r\n"); manual = true; t.reset(); while(manual) { @@ -88,21 +100,20 @@ if( pc.readable()) { char d = pc.getc(); if( d == 'm') { - pc.printf("turning off joystick\n"); + pc.printf("turning off joystick\r\n"); manual = false; } } - } + } } - else { - pc.printf("none \n"); + pc.printf("none \r\n"); smart.stop(); } } else { - // pc.printf("Nothing pressed \n"); + // pc.printf("Nothing pressed \r\n"); smart.stop(); } wait(process);