![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Collated code with down ToF, side ToF, Emergency Button, Watchdog
Dependencies: wheelchaircontrol
main.cpp
- Committer:
- jvfausto
- Date:
- 2018-08-29
- Revision:
- 7:04f93e6b929f
- Parent:
- 6:e9b1684a9c00
- Child:
- 8:db780b392bae
File content as of revision 7:04f93e6b929f:
#include "wheelchair.h" AnalogIn x(A0); AnalogIn y(A1); DigitalOut up(D2); DigitalOut down(D3); DigitalOut on(D12); DigitalOut off(D11); bool manual = false; Serial pc(USBTX, USBRX, 57600); Timer t; EventQueue queue; //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 \r\n"); smart.forward(); } else if( c == 'a') { //pc.printf("left \r\n"); smart.left(); } else if( c == 'd') { //pc.printf("right \r\n"); smart.right(); } else if( c == 's') { //pc.printf("down \r\n"); smart.backward(); } else if( c == 'r') { smart.turn_right(90); } else if( c == 'l') { smart.turn_left(90); } else if( c == 't') { char buffer[256]; pc.printf ("Enter a long number: "); //fgets (buffer, 256, stdin); int angle = 90;//atoi (buffer); if(angle == 0) { pc.printf("invalid input try again\r\n"); } else { smart.pid_turn(angle); } } else if(c == 'o') { pc.printf("turning on\r\n"); on = 1; wait(1); on = 0; } else if(c == 'f') { 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\r\n"); manual = true; t.reset(); while(manual) { smart.move(x,y); if( pc.readable()) { char d = pc.getc(); if( d == 'm') { pc.printf("turning off joystick\r\n"); manual = false; } } } } else { pc.printf("none \r\n"); smart.stop(); } } else { // pc.printf("Nothing pressed \r\n"); smart.stop(); } wait(process); } }