Affordable Smart Wheelchair
Updated with Statistics Library
Dependencies: wheelchaircontrol5
Revision 12:43008ddd4a2f, committed 2019-06-28
- Comitter:
- t1jain
- Date:
- Fri Jun 28 23:54:01 2019 +0000
- Parent:
- 11:73b4380d82bf
- Commit message:
- Updated with Statistics Library
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 |
--- a/main.cpp Fri Jun 28 21:18:51 2019 +0000
+++ b/main.cpp Fri Jun 28 23:54:01 2019 +0000
@@ -1,148 +1,149 @@
+#include "mbed.h"
+#include <ros.h>
+#include <nav_msgs/Odometry.h> // Contains both the twist and pose
+#include "Watchdog.h"
#include "wheelchair.h"
+#include "rtos.h"
-QEI wheel (D10, D9, NC, 1200); //Initializes right encoder
-DigitalIn pt3(D10, PullUp); //Pull up resistors to read analog signals into digital signals
+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);
-/*added*/
-//DigitalIn e_button(D4); //emergency button will start at HIGH
+double watchdogLimit = 1.00; // Set timeout limit for watchdog timer in milliseconds
-QEI wheelS (D7, D8, NC, 1200); //Initializes Left encoder
-DigitalIn pt1(D7, PullUp); //Pull up resistors to read analog signals into digital signals
+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;
-AnalogIn x(A0); //Initializes analog axis for the joystick
+AnalogIn x(A0); // Initializes analog axis for the joystick
AnalogIn y(A1);
-double watchdogLimit = 0.1; // Set timeout limit for watchdog timer in seconds
-int buttonCheck = 0;
-int iteration = 1;
+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
-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
-bool manual = false; //Turns chair joystic to automatic and viceverza
+bool manual = false; // Turns chair joystic to automatic and viceverza
-Serial pc(USBTX, USBRX, 57600); //Serial Monitor
+Serial pc(USBTX, USBRX, 57600); // Serial Monitor
-VL53L1X sensor1(PD_13, PD_12, PC_7); //initializes ToF sensors
-VL53L1X sensor2(PD_13, PD_12, PA_15);
+VL53L1X sensor1(PD_13, PD_12, PA_15); // Initializes ToF sensors
+VL53L1X sensor2(PD_13, PD_12, PC_7);
VL53L1X sensor3(PD_13, PD_12, PB_5);
-VL53L1X sensor4(PD_13, PD_12, PF_14);
-VL53L1X sensor5(PD_13, PD_12, PE_11);
+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
-EventQueue queue; //Class to organize threads
+Timer t; // Initialize time object t
+EventQueue queue; // Class to organize threads
Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS, ToFT); //Initialize wheelchair object
-Thread compass; //Thread for compass
-Thread velocity; //Thread for velosity
-Thread assistSafe; //thread for safety stuff
-
+Thread compass; // Thread for compass
+Thread velocity; // Thread for velosity
+Thread assistSafe; // Thread for safety stuff
+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
- queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); //Sets up sampling frequency of the velosity_thread
- queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::assistSafe_thread); //Sets up sampling frequency of the velosity_thread
+ 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::assistSafe_thread); // Sets up sampling frequency of the velosity_thread
+ queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::emergencyButton_thread); // Sets up sampling frequency of the emergencyButton_thread
//queue.call_every(200, rosCom_thread); //Sets up sampling frequency of the velosity_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 velosity thread
- assistSafe.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
- //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
- pc.printf("After starting\r\n");
+ 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");
- //added
- // int emerg_button = e_button;
-
int set = 0;
while(1) {
if( pc.readable()) {
set = 1;
- char c = pc.getc(); //Read the instruction sent
+ char c = pc.getc(); // Read the instruction sent
if( c == 'w') {
- smart.forward(); //Move foward
+ smart.forward(); // Move foward
- }
- else if( c == 'a') {
- smart.left(); //Turn left
+ } else if( c == 'a') {
+ smart.left(); // Turn left
+ } else if( c == 'd') {
+ smart.right(); // Turn right
+ } else if( c == 's') {
+ smart.backward(); // Turn rackwards
}
- else if( c == 'd') {
- smart.right(); //Turn right
- }
- 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
+ } 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
+ } 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
+
+ } else if(c == 'k') { // Sends command to go to the kitchen
smart.pid_twistV();
- } else if( c == 'm' || manual) { //Turns wheelchair to joystick
+ } 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
+ 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
+ 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 {
- 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
}
- else {
-
- smart.stop(); //If nothing else is happening stop the chair
- }
-
+
wait(process);
-
-/* t.stop();
- pc.printf("Time elapsed: %f seconds and iteration = %d\n", t.read(), iteration);
dog.Service(); // Service the Watchdog so it does not cause a system reset - "Kicking"/"Feeding" the dog
- */
}
}
--- a/wheelchaircontrol.lib Fri Jun 28 21:18:51 2019 +0000 +++ b/wheelchaircontrol.lib Fri Jun 28 23:54:01 2019 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/jvfausto/code/wheelchaircontrol1/#da718b990837 +https://os.mbed.com/teams/Affordable-Smart-Wheelchair/code/wheelchaircontrol5/#e01253eb6c6f