Affordable Smart Wheelchair / Mbed OS Version1-4

added code to ToF and inserted the e_button

Dependencies:   Version1-4

Dependents:   Version1-4 Version1-3

main.cpp@9:ca11e4db63a7, 2019-04-19 (annotated)

Committer:
jvfausto
Date:
Fri Apr 19 23:08:27 2019 +0000
Revision:
9:ca11e4db63a7
Parent:
8:db780b392bae
Child:
10:b4d68db3ddbd
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 0:7e6b349182bc 1 #include "wheelchair.h"
ryanlin97 0:7e6b349182bc 2
jvfausto 9:ca11e4db63a7 3 QEI wheel (D10, D9, NC, 1200); //Initializes right encoder
jvfausto 9:ca11e4db63a7 4 DigitalIn pt3(D10, PullUp); //Pull up resistors to read analog signals into digital signals
jvfausto 9:ca11e4db63a7 5 DigitalIn pt4(D9, PullUp);
jvfausto 9:ca11e4db63a7 6
jvfausto 9:ca11e4db63a7 7 /*added*/
jvfausto 9:ca11e4db63a7 8 //DigitalIn e_button(D4); //emergency button will start at HIGH
jvfausto 8:db780b392bae 9
jvfausto 9:ca11e4db63a7 10 QEI wheelS (D7, D8, NC, 1200); //Initializes Left encoder
jvfausto 9:ca11e4db63a7 11 DigitalIn pt1(D7, PullUp); //Pull up resistors to read analog signals into digital signals
jvfausto 9:ca11e4db63a7 12 DigitalIn pt2(D8, PullUp);
jvfausto 8:db780b392bae 13
jvfausto 9:ca11e4db63a7 14 int max_velocity;
jvfausto 9:ca11e4db63a7 15 //Timer testAccT;
jvfausto 9:ca11e4db63a7 16
jvfausto 9:ca11e4db63a7 17 AnalogIn x(A0); //Initializes analog axis for the joystick
ryanlin97 0:7e6b349182bc 18 AnalogIn y(A1);
ryanlin97 0:7e6b349182bc 19
jvfausto 9:ca11e4db63a7 20 DigitalOut up(D12); //Turn up speed mode for joystick
jvfausto 9:ca11e4db63a7 21 DigitalOut down(D13); //Turn down speed mode for joystick
jvfausto 9:ca11e4db63a7 22 DigitalOut on(D14); //Turn Wheelchair On
jvfausto 9:ca11e4db63a7 23 DigitalOut off(D15); //Turn Wheelchair Off
jvfausto 9:ca11e4db63a7 24 bool manual = false; //Turns chair joystic to automatic and viceverza
jvfausto 9:ca11e4db63a7 25
jvfausto 9:ca11e4db63a7 26 Serial pc(USBTX, USBRX, 57600); //Serial Monitor
ryanlin97 0:7e6b349182bc 27
jvfausto 9:ca11e4db63a7 28 VL53L1X sensor1(PB_11, PB_10, D0); //initializes ToF sensors
jvfausto 9:ca11e4db63a7 29 VL53L1X sensor2(PB_11, PB_10, D1);
jvfausto 9:ca11e4db63a7 30 VL53L1X sensor3(PB_11, PB_10, D2);
jvfausto 9:ca11e4db63a7 31 VL53L1X sensor4(PB_11, PB_10, D3);
jvfausto 9:ca11e4db63a7 32 VL53L1X sensor5(PB_11, PB_10, D4);
jvfausto 9:ca11e4db63a7 33 VL53L1X sensor6(PB_11, PB_10, D5);
jvfausto 9:ca11e4db63a7 34 VL53L1X sensor7(PB_11, PB_10, PE_14);
jvfausto 9:ca11e4db63a7 35 VL53L1X sensor8(PB_11, PB_10, PE_12);
jvfausto 9:ca11e4db63a7 36 VL53L1X sensor9(PB_11, PB_10, PE_10);
jvfausto 9:ca11e4db63a7 37 VL53L1X sensor10(PB_11, PB_10, PE_15);
jvfausto 9:ca11e4db63a7 38 VL53L1X sensor11(PB_11, PB_10, D6);
jvfausto 9:ca11e4db63a7 39 VL53L1X sensor12(PB_11, PB_10, D11);
ryanlin97 5:90bf5f0d86e9 40
jvfausto 9:ca11e4db63a7 41 VL53L1X* ToF[12] = {&sensor1, &sensor2, &sensor3, &sensor4, &sensor5, &sensor6,
jvfausto 9:ca11e4db63a7 42 &sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12}; //puts ToF sensor pointers into an array
jvfausto 9:ca11e4db63a7 43 VL53L1X** ToFT = ToF;
ryanlin97 0:7e6b349182bc 44
jvfausto 9:ca11e4db63a7 45 Timer t; //Initialize time object t
jvfausto 9:ca11e4db63a7 46 EventQueue queue; //Class to organize threads
jvfausto 9:ca11e4db63a7 47 Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS, ToFT); //Initialize wheelchair object
jvfausto 9:ca11e4db63a7 48 Thread compass; //Thread for compass
jvfausto 9:ca11e4db63a7 49 Thread velocity; //Thread for velosity
jvfausto 9:ca11e4db63a7 50 Thread assistSafe; //thread for safety stuff
ryanlin97 0:7e6b349182bc 51
ryanlin97 5:90bf5f0d86e9 52
ryanlin97 0:7e6b349182bc 53 int main(void)
jvfausto 9:ca11e4db63a7 54 {
jvfausto 9:ca11e4db63a7 55 /* nh.initNode();
jvfausto 9:ca11e4db63a7 56 nh.advertise(chatter);
jvfausto 9:ca11e4db63a7 57 nh.advertise(chatter2);
jvfausto 9:ca11e4db63a7 58 nh.subscribe(sub);*/
jvfausto 9:ca11e4db63a7 59 //testAccT.start();
jvfausto 9:ca11e4db63a7 60 pc.printf("before starting\r\n");
jvfausto 9:ca11e4db63a7 61 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); //Sets up sampling frequency of the compass_thread
jvfausto 9:ca11e4db63a7 62 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); //Sets up sampling frequency of the velosity_thread
jvfausto 9:ca11e4db63a7 63 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::assistSafe_thread); //Sets up sampling frequency of the velosity_thread
jvfausto 9:ca11e4db63a7 64 //queue.call_every(200, rosCom_thread); //Sets up sampling frequency of the velosity_thread
ryanlin97 0:7e6b349182bc 65 t.reset();
jvfausto 9:ca11e4db63a7 66 compass.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the compass thread
jvfausto 9:ca11e4db63a7 67 velocity.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
jvfausto 9:ca11e4db63a7 68 assistSafe.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
jvfausto 9:ca11e4db63a7 69 //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
jvfausto 9:ca11e4db63a7 70 pc.printf("After starting\r\n");
jvfausto 9:ca11e4db63a7 71
jvfausto 9:ca11e4db63a7 72 //added
jvfausto 9:ca11e4db63a7 73 // int emerg_button = e_button;
jvfausto 9:ca11e4db63a7 74
jvfausto 9:ca11e4db63a7 75 int set = 0;
ryanlin97 0:7e6b349182bc 76 while(1) {
ryanlin97 0:7e6b349182bc 77 if( pc.readable()) {
jvfausto 9:ca11e4db63a7 78 set = 1;
jvfausto 9:ca11e4db63a7 79 char c = pc.getc(); //Read the instruction sent
ryanlin97 0:7e6b349182bc 80 if( c == 'w') {
jvfausto 9:ca11e4db63a7 81 smart.forward(); //Move foward
jvfausto 9:ca11e4db63a7 82
ryanlin97 0:7e6b349182bc 83 }
ryanlin97 0:7e6b349182bc 84 else if( c == 'a') {
jvfausto 9:ca11e4db63a7 85 smart.left(); //Turn left
ryanlin97 0:7e6b349182bc 86 }
jvfausto 9:ca11e4db63a7 87 else if( c == 'd') {
jvfausto 9:ca11e4db63a7 88 smart.right(); //Turn right
ryanlin97 0:7e6b349182bc 89 }
jvfausto 9:ca11e4db63a7 90 else if( c == 's') {
jvfausto 9:ca11e4db63a7 91 smart.backward(); //Turn rackwards
jvfausto 9:ca11e4db63a7 92 }
jvfausto 9:ca11e4db63a7 93
jvfausto 9:ca11e4db63a7 94 else if( c == 't') {
jvfausto 9:ca11e4db63a7 95 smart.pid_twistA();
jvfausto 9:ca11e4db63a7 96 } else if(c == 'v'){
jvfausto 9:ca11e4db63a7 97 smart.showOdom();
jvfausto 9:ca11e4db63a7 98 } else if(c == 'o') { //Turns on chair
jvfausto 7:04f93e6b929f 99 pc.printf("turning on\r\n");
ryanlin97 6:e9b1684a9c00 100 on = 1;
ryanlin97 6:e9b1684a9c00 101 wait(1);
ryanlin97 6:e9b1684a9c00 102 on = 0;
jvfausto 9:ca11e4db63a7 103 } else if(c == 'f') { //Turns off chair
jvfausto 7:04f93e6b929f 104 pc.printf("turning off\r\n");
ryanlin97 6:e9b1684a9c00 105 off = 1;
ryanlin97 6:e9b1684a9c00 106 wait(1);
ryanlin97 6:e9b1684a9c00 107 off = 0;
jvfausto 9:ca11e4db63a7 108
jvfausto 9:ca11e4db63a7 109 } else if(c == 'k'){ //Sends command to go to the kitchen
jvfausto 9:ca11e4db63a7 110 smart.pid_twistV();
jvfausto 9:ca11e4db63a7 111 } else if( c == 'm' || manual) { //Turns wheelchair to joystick
jvfausto 7:04f93e6b929f 112 pc.printf("turning on joystick\r\n");
ryanlin97 0:7e6b349182bc 113 manual = true;
ryanlin97 0:7e6b349182bc 114 t.reset();
ryanlin97 0:7e6b349182bc 115 while(manual) {
jvfausto 9:ca11e4db63a7 116 smart.move(x,y); //Reads from joystick and moves
ryanlin97 0:7e6b349182bc 117 if( pc.readable()) {
ryanlin97 0:7e6b349182bc 118 char d = pc.getc();
jvfausto 9:ca11e4db63a7 119 if( d == 'm') { //Turns wheelchair from joystick into auto
jvfausto 7:04f93e6b929f 120 pc.printf("turning off joystick\r\n");
ryanlin97 0:7e6b349182bc 121 manual = false;
ryanlin97 0:7e6b349182bc 122 }
ryanlin97 0:7e6b349182bc 123 }
jvfausto 7:04f93e6b929f 124 }
ryanlin97 0:7e6b349182bc 125 }
jvfausto 9:ca11e4db63a7 126 else {
jvfausto 9:ca11e4db63a7 127 pc.printf("none \r\n");
jvfausto 9:ca11e4db63a7 128 smart.stop(); //If nothing else is happening stop the chair
ryanlin97 0:7e6b349182bc 129 }
ryanlin97 0:7e6b349182bc 130 }
jvfausto 9:ca11e4db63a7 131 else {
jvfausto 9:ca11e4db63a7 132
jvfausto 9:ca11e4db63a7 133 smart.stop(); //If nothing else is happening stop the chair
jvfausto 9:ca11e4db63a7 134 }
ryanlin97 0:7e6b349182bc 135
ryanlin97 0:7e6b349182bc 136 wait(process);
ryanlin97 0:7e6b349182bc 137 }
ryanlin97 0:7e6b349182bc 138 }
ryanlin97 0:7e6b349182bc 139