Fully integrated ToF/IMU codes
Dependencies: QEI2 PID Watchdog VL53L1X_Filter ros_lib_kinetic
Diff: main.cpp
- Revision:
- 11:73b4380d82bf
- Parent:
- 10:b4d68db3ddbd
- Child:
- 13:7fe71170d157
diff -r b4d68db3ddbd -r 73b4380d82bf main.cpp --- a/main.cpp Thu Jun 27 16:32:18 2019 +0000 +++ b/main.cpp Fri Jun 28 21:18:51 2019 +0000 @@ -17,6 +17,10 @@ AnalogIn x(A0); //Initializes analog axis for the joystick AnalogIn y(A1); +double watchdogLimit = 0.1; // Set timeout limit for watchdog timer in seconds +int buttonCheck = 0; +int iteration = 1; + DigitalOut up(D12); //Turn up speed mode for joystick DigitalOut down(D13); //Turn down speed mode for joystick DigitalOut on(D14); //Turn Wheelchair On @@ -25,11 +29,11 @@ Serial pc(USBTX, USBRX, 57600); //Serial Monitor -VL53L1X sensor1(PD_13, PD_12, PA_15); //initializes ToF sensors -VL53L1X sensor2(PD_13, PD_12, PC_7); +VL53L1X sensor1(PD_13, PD_12, PC_7); //initializes ToF sensors +VL53L1X sensor2(PD_13, PD_12, PA_15); VL53L1X sensor3(PD_13, PD_12, PB_5); -VL53L1X sensor4(PD_13, PD_12, PE_11); -VL53L1X sensor5(PD_13, PD_12, PF_14); +VL53L1X sensor4(PD_13, PD_12, PF_14); +VL53L1X sensor5(PD_13, PD_12, PE_11); VL53L1X sensor6(PD_13, PD_12, PE_13); VL53L1X sensor7(PD_13, PD_12, D6); VL53L1X sensor8(PD_13, PD_12, PE_12); @@ -58,12 +62,12 @@ 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::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(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 + //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 //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread @@ -132,8 +136,13 @@ smart.stop(); //If nothing else is happening stop the chair } - + wait(process); + +/* t.stop(); + pc.printf("Time elapsed: %f seconds and iteration = %d\n", t.read(), iteration); + dog.Service(); // Service the Watchdog so it does not cause a system reset - "Kicking"/"Feeding" the dog + */ } }