changed pins for e_button and added code for turning off PCB
Dependencies: wheelchairControlSummer2019 Watchdog ros_lib_kinetic
main.cpp@13:1d0ed92043af, 2019-06-27 (annotated)
- Committer:
- t1jain
- Date:
- Thu Jun 27 18:33:05 2019 +0000
- Revision:
- 13:1d0ed92043af
- Parent:
- 11:c9afd96fa08b
- Child:
- 14:88e5a437a58a
Bug fixes
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
t1jain | 11:c9afd96fa08b | 1 | #include "mbed.h" |
t1jain | 11:c9afd96fa08b | 2 | #include <ros.h> |
t1jain | 11:c9afd96fa08b | 3 | #include <nav_msgs/Odometry.h> // Contains both the twist and pose |
t1jain | 11:c9afd96fa08b | 4 | #include "Watchdog.h" |
ryanlin97 | 0:7e6b349182bc | 5 | #include "wheelchair.h" |
t1jain | 11:c9afd96fa08b | 6 | #include "rtos.h" |
ryanlin97 | 0:7e6b349182bc | 7 | |
jvfausto | 9:ca11e4db63a7 | 8 | QEI wheel (D10, D9, NC, 1200); //Initializes right encoder |
jvfausto | 9:ca11e4db63a7 | 9 | DigitalIn pt3(D10, PullUp); //Pull up resistors to read analog signals into digital signals |
jvfausto | 9:ca11e4db63a7 | 10 | DigitalIn pt4(D9, PullUp); |
jvfausto | 9:ca11e4db63a7 | 11 | |
t1jain | 11:c9afd96fa08b | 12 | double watchdogLimit = 1.00; // Set timeout limit for watchdog timer in milliseconds |
t1jain | 11:c9afd96fa08b | 13 | int buttonCheck = 0; |
t1jain | 11:c9afd96fa08b | 14 | |
jvfausto | 9:ca11e4db63a7 | 15 | /*added*/ |
jvfausto | 9:ca11e4db63a7 | 16 | //DigitalIn e_button(D4); //emergency button will start at HIGH |
jvfausto | 8:db780b392bae | 17 | |
jvfausto | 9:ca11e4db63a7 | 18 | QEI wheelS (D7, D8, NC, 1200); //Initializes Left encoder |
jvfausto | 9:ca11e4db63a7 | 19 | DigitalIn pt1(D7, PullUp); //Pull up resistors to read analog signals into digital signals |
jvfausto | 9:ca11e4db63a7 | 20 | DigitalIn pt2(D8, PullUp); |
jvfausto | 8:db780b392bae | 21 | |
jvfausto | 9:ca11e4db63a7 | 22 | int max_velocity; |
jvfausto | 9:ca11e4db63a7 | 23 | //Timer testAccT; |
jvfausto | 9:ca11e4db63a7 | 24 | |
jvfausto | 9:ca11e4db63a7 | 25 | AnalogIn x(A0); //Initializes analog axis for the joystick |
ryanlin97 | 0:7e6b349182bc | 26 | AnalogIn y(A1); |
ryanlin97 | 0:7e6b349182bc | 27 | |
jvfausto | 9:ca11e4db63a7 | 28 | DigitalOut up(D12); //Turn up speed mode for joystick |
jvfausto | 9:ca11e4db63a7 | 29 | DigitalOut down(D13); //Turn down speed mode for joystick |
jvfausto | 9:ca11e4db63a7 | 30 | DigitalOut on(D14); //Turn Wheelchair On |
jvfausto | 9:ca11e4db63a7 | 31 | DigitalOut off(D15); //Turn Wheelchair Off |
jvfausto | 9:ca11e4db63a7 | 32 | bool manual = false; //Turns chair joystic to automatic and viceverza |
jvfausto | 9:ca11e4db63a7 | 33 | |
jvfausto | 9:ca11e4db63a7 | 34 | Serial pc(USBTX, USBRX, 57600); //Serial Monitor |
ryanlin97 | 0:7e6b349182bc | 35 | |
jvfausto | 10:b4d68db3ddbd | 36 | VL53L1X sensor1(PD_13, PD_12, PA_15); //initializes ToF sensors |
jvfausto | 10:b4d68db3ddbd | 37 | VL53L1X sensor2(PD_13, PD_12, PC_7); |
jvfausto | 10:b4d68db3ddbd | 38 | VL53L1X sensor3(PD_13, PD_12, PB_5); |
jvfausto | 10:b4d68db3ddbd | 39 | VL53L1X sensor4(PD_13, PD_12, PE_11); |
jvfausto | 10:b4d68db3ddbd | 40 | VL53L1X sensor5(PD_13, PD_12, PF_14); |
jvfausto | 10:b4d68db3ddbd | 41 | VL53L1X sensor6(PD_13, PD_12, PE_13); |
jvfausto | 10:b4d68db3ddbd | 42 | VL53L1X sensor7(PD_13, PD_12, D6); |
jvfausto | 10:b4d68db3ddbd | 43 | VL53L1X sensor8(PD_13, PD_12, PE_12); |
jvfausto | 10:b4d68db3ddbd | 44 | VL53L1X sensor9(PD_13, PD_12, PE_10); |
jvfausto | 10:b4d68db3ddbd | 45 | VL53L1X sensor10(PD_13, PD_12, PE_15); |
jvfausto | 10:b4d68db3ddbd | 46 | VL53L1X sensor11(PD_13, PD_12, D6); |
jvfausto | 9:ca11e4db63a7 | 47 | VL53L1X sensor12(PB_11, PB_10, D11); |
ryanlin97 | 5:90bf5f0d86e9 | 48 | |
jvfausto | 9:ca11e4db63a7 | 49 | VL53L1X* ToF[12] = {&sensor1, &sensor2, &sensor3, &sensor4, &sensor5, &sensor6, |
jvfausto | 9:ca11e4db63a7 | 50 | &sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12}; //puts ToF sensor pointers into an array |
jvfausto | 9:ca11e4db63a7 | 51 | VL53L1X** ToFT = ToF; |
ryanlin97 | 0:7e6b349182bc | 52 | |
jvfausto | 9:ca11e4db63a7 | 53 | Timer t; //Initialize time object t |
jvfausto | 9:ca11e4db63a7 | 54 | EventQueue queue; //Class to organize threads |
jvfausto | 9:ca11e4db63a7 | 55 | Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS, ToFT); //Initialize wheelchair object |
jvfausto | 9:ca11e4db63a7 | 56 | Thread compass; //Thread for compass |
jvfausto | 9:ca11e4db63a7 | 57 | Thread velocity; //Thread for velosity |
jvfausto | 9:ca11e4db63a7 | 58 | Thread assistSafe; //thread for safety stuff |
t1jain | 11:c9afd96fa08b | 59 | Thread emergencyButton; // Thread to check button state and reset device |
ryanlin97 | 5:90bf5f0d86e9 | 60 | |
ryanlin97 | 0:7e6b349182bc | 61 | int main(void) |
jvfausto | 9:ca11e4db63a7 | 62 | { |
jvfausto | 9:ca11e4db63a7 | 63 | /* nh.initNode(); |
jvfausto | 9:ca11e4db63a7 | 64 | nh.advertise(chatter); |
jvfausto | 9:ca11e4db63a7 | 65 | nh.advertise(chatter2); |
jvfausto | 9:ca11e4db63a7 | 66 | nh.subscribe(sub);*/ |
jvfausto | 9:ca11e4db63a7 | 67 | //testAccT.start(); |
jvfausto | 9:ca11e4db63a7 | 68 | pc.printf("before starting\r\n"); |
jvfausto | 9:ca11e4db63a7 | 69 | queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); //Sets up sampling frequency of the compass_thread |
t1jain | 13:1d0ed92043af | 70 | queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); //Sets up sampling frequency of the velocity_thread |
jvfausto | 9:ca11e4db63a7 | 71 | queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::assistSafe_thread); //Sets up sampling frequency of the velosity_thread |
t1jain | 13:1d0ed92043af | 72 | queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::emergencyButton_thread); // Sets up sampling frequency of the emergencyButton_thread |
jvfausto | 9:ca11e4db63a7 | 73 | //queue.call_every(200, rosCom_thread); //Sets up sampling frequency of the velosity_thread |
ryanlin97 | 0:7e6b349182bc | 74 | t.reset(); |
jvfausto | 9:ca11e4db63a7 | 75 | compass.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the compass thread |
jvfausto | 9:ca11e4db63a7 | 76 | velocity.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread |
jvfausto | 9:ca11e4db63a7 | 77 | assistSafe.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread |
t1jain | 13:1d0ed92043af | 78 | emergencyButton.start(callback(&queue, &EventQueue::dispatch_forever)); |
t1jain | 13:1d0ed92043af | 79 | |
jvfausto | 9:ca11e4db63a7 | 80 | //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread |
jvfausto | 9:ca11e4db63a7 | 81 | pc.printf("After starting\r\n"); |
jvfausto | 9:ca11e4db63a7 | 82 | |
jvfausto | 9:ca11e4db63a7 | 83 | //added |
jvfausto | 9:ca11e4db63a7 | 84 | // int emerg_button = e_button; |
t1jain | 11:c9afd96fa08b | 85 | |
t1jain | 11:c9afd96fa08b | 86 | Watchdog dog; // Creates Watchdog object |
t1jain | 11:c9afd96fa08b | 87 | dog.Configure(watchdogLimit); // Configures timeout for Watchdog |
t1jain | 11:c9afd96fa08b | 88 | pc.printf("Code initiated/reset"); |
t1jain | 11:c9afd96fa08b | 89 | |
jvfausto | 9:ca11e4db63a7 | 90 | |
jvfausto | 9:ca11e4db63a7 | 91 | int set = 0; |
ryanlin97 | 0:7e6b349182bc | 92 | while(1) { |
ryanlin97 | 0:7e6b349182bc | 93 | if( pc.readable()) { |
jvfausto | 9:ca11e4db63a7 | 94 | set = 1; |
jvfausto | 9:ca11e4db63a7 | 95 | char c = pc.getc(); //Read the instruction sent |
ryanlin97 | 0:7e6b349182bc | 96 | if( c == 'w') { |
jvfausto | 9:ca11e4db63a7 | 97 | smart.forward(); //Move foward |
jvfausto | 9:ca11e4db63a7 | 98 | |
ryanlin97 | 0:7e6b349182bc | 99 | } |
ryanlin97 | 0:7e6b349182bc | 100 | else if( c == 'a') { |
jvfausto | 9:ca11e4db63a7 | 101 | smart.left(); //Turn left |
ryanlin97 | 0:7e6b349182bc | 102 | } |
jvfausto | 9:ca11e4db63a7 | 103 | else if( c == 'd') { |
jvfausto | 9:ca11e4db63a7 | 104 | smart.right(); //Turn right |
ryanlin97 | 0:7e6b349182bc | 105 | } |
jvfausto | 9:ca11e4db63a7 | 106 | else if( c == 's') { |
jvfausto | 9:ca11e4db63a7 | 107 | smart.backward(); //Turn rackwards |
jvfausto | 9:ca11e4db63a7 | 108 | } |
jvfausto | 9:ca11e4db63a7 | 109 | |
jvfausto | 9:ca11e4db63a7 | 110 | else if( c == 't') { |
jvfausto | 9:ca11e4db63a7 | 111 | smart.pid_twistA(); |
jvfausto | 9:ca11e4db63a7 | 112 | } else if(c == 'v'){ |
jvfausto | 9:ca11e4db63a7 | 113 | smart.showOdom(); |
jvfausto | 9:ca11e4db63a7 | 114 | } else if(c == 'o') { //Turns on chair |
jvfausto | 7:04f93e6b929f | 115 | pc.printf("turning on\r\n"); |
ryanlin97 | 6:e9b1684a9c00 | 116 | on = 1; |
ryanlin97 | 6:e9b1684a9c00 | 117 | wait(1); |
ryanlin97 | 6:e9b1684a9c00 | 118 | on = 0; |
jvfausto | 9:ca11e4db63a7 | 119 | } else if(c == 'f') { //Turns off chair |
jvfausto | 7:04f93e6b929f | 120 | pc.printf("turning off\r\n"); |
ryanlin97 | 6:e9b1684a9c00 | 121 | off = 1; |
ryanlin97 | 6:e9b1684a9c00 | 122 | wait(1); |
ryanlin97 | 6:e9b1684a9c00 | 123 | off = 0; |
jvfausto | 9:ca11e4db63a7 | 124 | |
jvfausto | 9:ca11e4db63a7 | 125 | } else if(c == 'k'){ //Sends command to go to the kitchen |
jvfausto | 9:ca11e4db63a7 | 126 | smart.pid_twistV(); |
jvfausto | 9:ca11e4db63a7 | 127 | } else if( c == 'm' || manual) { //Turns wheelchair to joystick |
jvfausto | 7:04f93e6b929f | 128 | pc.printf("turning on joystick\r\n"); |
ryanlin97 | 0:7e6b349182bc | 129 | manual = true; |
ryanlin97 | 0:7e6b349182bc | 130 | t.reset(); |
ryanlin97 | 0:7e6b349182bc | 131 | while(manual) { |
jvfausto | 9:ca11e4db63a7 | 132 | smart.move(x,y); //Reads from joystick and moves |
ryanlin97 | 0:7e6b349182bc | 133 | if( pc.readable()) { |
ryanlin97 | 0:7e6b349182bc | 134 | char d = pc.getc(); |
jvfausto | 9:ca11e4db63a7 | 135 | if( d == 'm') { //Turns wheelchair from joystick into auto |
jvfausto | 7:04f93e6b929f | 136 | pc.printf("turning off joystick\r\n"); |
ryanlin97 | 0:7e6b349182bc | 137 | manual = false; |
ryanlin97 | 0:7e6b349182bc | 138 | } |
ryanlin97 | 0:7e6b349182bc | 139 | } |
jvfausto | 7:04f93e6b929f | 140 | } |
ryanlin97 | 0:7e6b349182bc | 141 | } |
jvfausto | 9:ca11e4db63a7 | 142 | else { |
jvfausto | 9:ca11e4db63a7 | 143 | pc.printf("none \r\n"); |
jvfausto | 9:ca11e4db63a7 | 144 | smart.stop(); //If nothing else is happening stop the chair |
ryanlin97 | 0:7e6b349182bc | 145 | } |
ryanlin97 | 0:7e6b349182bc | 146 | } |
jvfausto | 9:ca11e4db63a7 | 147 | else { |
jvfausto | 9:ca11e4db63a7 | 148 | |
jvfausto | 9:ca11e4db63a7 | 149 | smart.stop(); //If nothing else is happening stop the chair |
jvfausto | 9:ca11e4db63a7 | 150 | } |
ryanlin97 | 0:7e6b349182bc | 151 | |
ryanlin97 | 0:7e6b349182bc | 152 | wait(process); |
t1jain | 11:c9afd96fa08b | 153 | dog.Service(); // Service the Watchdog so it does not cause a system reset - "Kicking"/"Feeding" the dog |
ryanlin97 | 0:7e6b349182bc | 154 | } |
ryanlin97 | 0:7e6b349182bc | 155 | } |
ryanlin97 | 0:7e6b349182bc | 156 |