Diff: main.cpp

Revision:

18:94ae9ca5a709

Parent:

17:770a161346ed

Child:

19:7ead04523f89

--- a/main.cpp	Tue Jul 02 16:41:38 2019 +0000
+++ b/main.cpp	Tue Jul 02 17:49:41 2019 +0000
@@ -4,19 +4,18 @@
 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
+DigitalIn e_button(D6, PullDown);       // Change to PullUp if testing without Emergency Button Connected
 
 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);
 
+
 //Watchdog limit should be 0.1; Set to 1 for Testing Only
 double watchdogLimit = 1;               // Set timeout limit for watchdog timer in seconds
 int buttonCheck = 0;
@@ -24,8 +23,10 @@
 
 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
+
+PwmOut on(PE_6);                        // Turn Wheelchair On
+PwmOut off(PE_5);                       // Turn Wheelchair Off
+
 bool manual = false;                    // Turns chair joystic to automatic and viceverza
 
 Serial pc(USBTX, USBRX, 57600);         // Serial Monitor
@@ -53,6 +54,7 @@
 Thread compass;                         // Thread for compass
 Thread velocity;                        // Thread for velosity
 Thread  ToFSafe;                        // Thread for safety stuff
+Thread emergencyButton;                 // Thread to check button state and reset device
 
 
 int main(void)
@@ -61,18 +63,21 @@
     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::ToFSafe_thread);      // Sets up sampling frequency of the velosity_thread
-    //queue.call_every(200, rosCom_thread);                                 // Sets up sampling frequency of the velosity_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 velocity thread
+    queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::ToFSafe_thread);              // Sets up sampling frequency of the ToF safety thread
+    //queue.call_every(200, rosCom_thread);                                         // Sets up sampling frequency of the ROS com thread
+    queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::emergencyButton_thread);      // Sets up sampling frequency of the emergency button 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
-    ToFSafe.start(callback(&queue, &EventQueue::dispatch_forever));         // Starts running the velosity thread
-    //ros_com.start(callback(&queue, &EventQueue::dispatch_forever));       // Starts running the velosity thread
+    //compass.start(callback(&queue, &EventQueue::dispatch_forever));               // Starts running the compass thread
+    velocity.start(callback(&queue, &EventQueue::dispatch_forever));                // Starts running the velocity thread
+    ToFSafe.start(callback(&queue, &EventQueue::dispatch_forever));                 // Starts running the ROS com thread
+    //ros_com.start(callback(&queue, &EventQueue::dispatch_forever));               // Starts running the ROS com thread
+    emergencyButton.start(callback(&queue, &EventQueue::dispatch_forever));         // Starts running the emergency button thread
+    
         pc.printf("After starting\r\n");
 
     //added