Revision 21:b438961f85d5, committed 2019-07-02

Comitter:

t1jain

Date:

Tue Jul 02 19:19:28 2019 +0000

Parent:

20:bd257ffdef24

Commit message:

Comments added

Changed in this revision

--- a/main.cpp	Tue Jul 02 18:53:53 2019 +0000
+++ b/main.cpp	Tue Jul 02 19:19:28 2019 +0000
@@ -1,6 +1,6 @@
-/*************************************************************************
- *                             Version 1.0                               *
- *************************************************************************/
+/**************************************************************************
+ *                             Version 1.0                                *
+ **************************************************************************/
 #include "wheelchair.h"
 Serial pc(USBTX, USBRX, 57600);         // Serial Monitor
 
@@ -108,76 +108,86 @@
 
     //added
     //int emerg_button = e_button;
-    Watchdog dog;                                                           // Creates Watchdog object
-    dog.Configure(watchdogLimit);                                           // Configures timeout for Watchdog
+    Watchdog dog;                                                               // Creates Watchdog object
+    dog.Configure(watchdogLimit);                                               // Configures timeout for Watchdog
     pc.printf("Code initiated\n");
     int set = 0;
     
     while(1) {
         if( pc.readable()) {
             set = 1;
-            char c = pc.getc();                                             // Read the instruction sent
+            char c = pc.getc();                                                 // Read the instruction sent
             if( c == 'w') {
-                smart.forward();                                            // Move foward
+                smart.forward();                                                // Move foward
 
             }
             else if( c == 'a') {
-                smart.left();                                               // Turn left
+                smart.left();                                                   // Turn left
             }
             else if( c == 'd') {
-                smart.right();                                              // Turn right
+                smart.right();                                                  // Turn right
             }
             else if( c == 's') {
-                smart.backward();                                           // Turn backwards
+                smart.backward();                                               // Turn backwards
             }
             
             else if( c == 't') {                                        
                 smart.pid_twistA();
-            } else if(c == 'v'){
+            } 
+            
+            else if(c == 'v'){
                 smart.showOdom();
-            } else if(c == 'o') {                                           // Turns on chair
+            } 
+            
+            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
+            } 
+            
+            else if(c == 'f') {                                                 // Turns off chair
                 pc.printf("turning off\r\n");
                 off = 1;
                 wait(1);
-                off = 0;
+                off = 0;          
+            } 
             
-            } else if(c == 'k'){                                            // Sends command to go to the kitchen
+            else if(c == 'k'){                                                  // Sends command to go to the kitchen
                 smart.pid_twistV();
-            } else if( c == 'm' || manual) {                                // Turns wheelchair to joystick
+            } 
+            
+            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
+                    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
+                        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
+                    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);
         
         t.stop();
         //pc.printf("Time elapsed: %f seconds, Iteration = %d\n", t.read(), iteration);
-        dog.Service();                                                      // Service the Watchdog so it does not cause a system reset - "Kicking"/"Feeding" the dog
+        dog.Service();                                                          // Service the Watchdog so it does not cause a system reset - "Kicking"/"Feeding" the dog
 
     }
 }