![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Updated with Statistics Library
Dependencies: wheelchaircontrol5
main.cpp
- Committer:
- ryanlin97
- Date:
- 2018-08-15
- Revision:
- 6:e9b1684a9c00
- Parent:
- 5:90bf5f0d86e9
- Child:
- 7:04f93e6b929f
File content as of revision 6:e9b1684a9c00:
#include "wheelchair.h" AnalogIn x(A0); AnalogIn y(A1); DigitalOut up(D2); DigitalOut down(D3); DigitalOut on(D12); DigitalOut off(D11); bool manual = false; Serial pc(USBTX, USBRX, 57600); Timer t; EventQueue queue; //MPU9250 imu(D14, D15); Wheelchair smart(xDir,yDir, &pc, &t); Thread thread; int main(void) { queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); t.reset(); thread.start(callback(&queue, &EventQueue::dispatch_forever)); while(1) { if( pc.readable()) { char c = pc.getc(); if( c == 'w') { pc.printf("up \n"); smart.forward(); } else if( c == 'a') { //pc.printf("left \n"); smart.left(); } else if( c == 'd') { //pc.printf("right \n"); smart.right(); } else if( c == 's') { pc.printf("down \n"); smart.backward(); } else if( c == 'r') { smart.turn_right(90); } else if( c == 'l') { smart.turn_left(90); } else if( c == 't') { char buffer[256]; pc.printf ("Enter a long number: "); fgets (buffer, 256, stdin); int angle = atoi (buffer); if(angle == 0) { pc.printf("invalid input try again\n"); } else { smart.pid_turn(angle); } } else if(c == 'o') { pc.printf("turning on\n"); on = 1; wait(1); on = 0; } else if(c == 'f') { pc.printf("turning off\n"); off = 1; wait(1); off = 0; } else if( c == 'm' || manual) { pc.printf("turning on joystick\n"); manual = true; t.reset(); while(manual) { smart.move(x,y); if( pc.readable()) { char d = pc.getc(); if( d == 'm') { pc.printf("turning off joystick\n"); manual = false; } } } } else { pc.printf("none \n"); smart.stop(); } } else { // pc.printf("Nothing pressed \n"); smart.stop(); } wait(process); } }