Affordable Smart Wheelchair
changed pins for e_button and added code for turning off PCB
Dependencies: wheelchairControlSummer2019 Watchdog ros_lib_kinetic
Revision 14:88e5a437a58a, committed 2019-06-28
- Comitter:
- JesiMiranda
- Date:
- Fri Jun 28 19:42:02 2019 +0000
- Parent:
- 13:1d0ed92043af
- Commit message:
- changed pins for e_button and added code for turning off PCB
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| wheelchaircontrol.lib | Show annotated file Show diff for this revision Revisions of this file |
diff -r 1d0ed92043af -r 88e5a437a58a main.cpp
--- a/main.cpp Thu Jun 27 18:33:05 2019 +0000
+++ b/main.cpp Fri Jun 28 19:42:02 2019 +0000
@@ -10,14 +10,12 @@
DigitalIn pt4(D9, PullUp);
double watchdogLimit = 1.00; // Set timeout limit for watchdog timer in milliseconds
-int buttonCheck = 0;
-
-/*added*/
-//DigitalIn e_button(D4); //emergency button will start at HIGH
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);
+//Added
+DigitalIn e_button(D6, PullDown);
int max_velocity;
//Timer testAccT;
@@ -25,10 +23,11 @@
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
-DigitalOut on(D14); //Turn Wheelchair On
-DigitalOut off(D15); //Turn Wheelchair Off
+DigitalOut up(D12); //Turn up speed mode for joystick
+DigitalOut down(D13); //Turn down speed mode for joystick
+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
@@ -39,15 +38,16 @@
VL53L1X sensor4(PD_13, PD_12, PE_11);
VL53L1X sensor5(PD_13, PD_12, PF_14);
VL53L1X sensor6(PD_13, PD_12, PE_13);
-VL53L1X sensor7(PD_13, PD_12, D6);
+VL53L1X sensor7(PD_13, PD_12, D1);
VL53L1X sensor8(PD_13, PD_12, PE_12);
VL53L1X sensor9(PD_13, PD_12, PE_10);
VL53L1X sensor10(PD_13, PD_12, PE_15);
-VL53L1X sensor11(PD_13, PD_12, D6);
+VL53L1X sensor11(PD_13, PD_12, D1);
VL53L1X sensor12(PB_11, PB_10, D11);
-VL53L1X* ToF[12] = {&sensor1, &sensor2, &sensor3, &sensor4, &sensor5, &sensor6,
-&sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12}; //puts ToF sensor pointers into an array
+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;
Timer t; //Initialize time object t
@@ -59,11 +59,17 @@
Thread emergencyButton; // Thread to check button state and reset device
int main(void)
-{
-/* nh.initNode();
- nh.advertise(chatter);
- nh.advertise(chatter2);
- nh.subscribe(sub);*/
+{
+
+
+ Watchdog dog; // Creates Watchdog object
+ dog.Configure(watchdogLimit); // Configures timeout for Watchdog
+ pc.printf("Code initiated/reset");
+
+ /* nh.initNode();
+ 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
@@ -75,19 +81,11 @@
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
- emergencyButton.start(callback(&queue, &EventQueue::dispatch_forever));
-
- //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
- pc.printf("After starting\r\n");
+ emergencyButton.start(callback(&queue, &EventQueue::dispatch_forever));
- //added
- // int emerg_button = e_button;
-
- Watchdog dog; // Creates Watchdog object
- dog.Configure(watchdogLimit); // Configures timeout for Watchdog
- pc.printf("Code initiated/reset");
-
-
+ //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
+ pc.printf("After starting\r\n");
+
int set = 0;
while(1) {
if( pc.readable()) {
@@ -96,20 +94,17 @@
if( c == 'w') {
smart.forward(); //Move foward
- }
- else if( c == 'a') {
+ } else if( c == 'a') {
smart.left(); //Turn left
- }
- else if( c == 'd') {
+ } else if( c == 'd') {
smart.right(); //Turn right
- }
- else if( c == 's') {
+ } else if( c == 's') {
smart.backward(); //Turn rackwards
}
-
- else if( c == 't') {
+
+ else if( c == 't') {
smart.pid_twistA();
- } else if(c == 'v'){
+ } else if(c == 'v') {
smart.showOdom();
} else if(c == 'o') { //Turns on chair
pc.printf("turning on\r\n");
@@ -121,8 +116,8 @@
off = 1;
wait(1);
off = 0;
-
- } else if(c == 'k'){ //Sends command to go to the kitchen
+
+ } 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");
@@ -137,15 +132,13 @@
manual = false;
}
}
- }
+ }
+ } else {
+ pc.printf("none \r\n");
+ smart.stop(); //If nothing else is happening stop the chair
}
- else {
- pc.printf("none \r\n");
- smart.stop(); //If nothing else is happening stop the chair
- }
- }
- else {
-
+ } else {
+
smart.stop(); //If nothing else is happening stop the chair
}
diff -r 1d0ed92043af -r 88e5a437a58a wheelchaircontrol.lib --- a/wheelchaircontrol.lib Thu Jun 27 18:33:05 2019 +0000 +++ b/wheelchaircontrol.lib Fri Jun 28 19:42:02 2019 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/teams/Affordable-Smart-Wheelchair/code/wheelchaircontrol4/#0b1a837f123c +https://os.mbed.com/teams/Affordable-Smart-Wheelchair/code/wheelchairControlSummer2019/#ad02cb329fe3