added code for ToF and inserted e_button thread
Dependencies: wheelchaircontrol1
main.cpp
- Committer:
- JesiMiranda
- Date:
- 2019-07-09
- Revision:
- 22:d690ed804636
- Parent:
- 21:b438961f85d5
- Child:
- 23:497a6a11fe63
File content as of revision 22:d690ed804636:
/************************************************************************** * Version 1.0 * **************************************************************************/ #include "wheelchair.h" Serial pc(USBTX, USBRX, 57600); // Serial Monitor /************************************************************************** * Encoder Pins & Variables * **************************************************************************/ QEI wheel (D10, D9, NC, 1200); // Initializes right encoder DigitalIn pt3(D10, PullUp); // Pull up resistors to read analog signals into digital signals DigitalIn pt4(D9, PullUp); 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; /************************************************************************** * Variables and Pins for Watchdog and Emergency Button * **************************************************************************/ DigitalIn e_button(D6, PullDown); // Change to PullUp if testing without Emergency Button Connected PwmOut on(PE_6); // Turn Wheelchair On PwmOut off(PE_5); // Turn Wheelchair Off //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; int iteration = 1; /************************************************************************** * Joystick Pins & Variables * **************************************************************************/ AnalogIn x(A0); // Initializes analog axis for the joystick AnalogIn y(A1); DigitalOut up(D12); // Turn up speed mode for joystick DigitalOut down(D13); // Turn down speed mode for joystick bool manual = false; // Turns chair joystic to automatic and viceverza /************************************************************************** * ToF Sensor Pin Assignments * **************************************************************************/ VL53L1X sensor1(PD_13, PD_12, PA_15); // Block 1 VL53L1X sensor2(PD_13, PD_12, PC_7); VL53L1X sensor3(PD_13, PD_12, PB_5); VL53L1X sensor4(PD_13, PD_12, PE_11); // Block 2 VL53L1X sensor5(PD_13, PD_12, PF_14); VL53L1X sensor6(PD_13, PD_12, PE_13); VL53L1X sensor7(PD_13, PD_12, PG_15); // Block 3 VL53L1X sensor8(PD_13, PD_12, PG_14); VL53L1X sensor9(PD_13, PD_12, PG_9); VL53L1X sensor10(PD_13, PD_12, PE_10); // Block 4 VL53L1X sensor11(PD_13, PD_12, PE_12); VL53L1X sensor12(PD_13, PD_12, PE_14); VL53L1X* ToF[12] = {&sensor1, &sensor2, &sensor3, &sensor4, &sensor5, &sensor6, &sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12}; // Puts ToF sensor pointers into an array VL53L1X** ToFT = ToF; /************************************************************************** * Thread Definitions * **************************************************************************/ Timer t, IMU_t; // Initialize time object t and IMU timer EventQueue queue; // Class to organize threads Wheelchair smart(xDir,yDir, &pc, &IMU_t, &wheel, &wheelS, ToFT); // Initialize wheelchair object Thread compass; // Thread for compass Thread velocity; // Thread for velocity Thread ToFSafe; // Thread for safety stuff Thread emergencyButton; // Thread to check button state and reset device /************************************************************************** * MAIN CODE * **************************************************************************/ int main(void) { /* nh.initNode(); nh.advertise(chatter); nh.advertise(chatter2); nh.subscribe(sub); */ 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 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 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 //int emerg_button = e_button; 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 if( c == 'w') { smart.forward(); // Move foward } else if( c == 'a') { smart.left(); // Turn left } else if( c == 'd') { smart.right(); // Turn right } else if( c == 's') { smart.backward(); // Turn backwards } else if( c == 't') { smart.pid_twistA(); } else if(c == 'v'){ smart.showOdom(); } 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 pc.printf("turning off\r\n"); off = 1; wait(1); off = 0; } else if(c == 'k'){ // Sends command to go to the kitchen smart.pid_twistV(); } 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 if( pc.readable()) { char d = pc.getc(); if( d == 'm') { // Turns wheelchair from joystick into auto pc.printf("turning off joystick\r\n"); manual = false; } } } } else { pc.printf("none \r\n"); 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 } }