Affordable Smart Wheelchair
added code for PCB on and off, added pointers to e_button and pwm pins
Dependencies: QEI2 chair_BNO055 PID VL53L1X_Filter
Dependents: wheelchairControlSumer2019
Diff: wheelchair.cpp
- Revision:
- 28:ad02cb329fe3
- Parent:
- 27:0b1a837f123c
--- a/wheelchair.cpp Thu Jun 27 18:08:29 2019 +0000
+++ b/wheelchair.cpp Fri Jun 28 19:35:51 2019 +0000
@@ -1,9 +1,9 @@
#include "wheelchair.h"
-
+
bool manual_drive = false; // Variable changes between joystick and auto drive
double encoder_distance; // Keeps distanse due to original position
-
+
volatile double Setpoint, Output, Input, Input2; // Variables for PID
volatile double pid_yaw, Distance, Setpoint2, Output2, encoder_distance2; // Variables for PID
volatile double vIn, vOut, vDesired; // Variables for PID Velosity
@@ -12,64 +12,60 @@
double dist_old, curr_pos; // Variables for odometry position
-DigitalOut signal(D5); // Output to send "STOP" signal to wheelchair
-DigitalIn button(D4, PullDown); // Emergency Stop button
-
+
PID myPID(&pid_yaw, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT); // Angle PID object constructor
PID myPIDDistance(&Input, &Output, &Setpoint, 5.5, .00, 0.002, P_ON_E, DIRECT); // Distance PID object constructor
PID PIDVelosity(&vIn, &vOut, &vDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Velosity PID Constructor
PID PIDSlaveV(&vInS, &vOutS, &vDesiredS, 5.5, .00, .002, P_ON_E, DIRECT); // Slave Velosity PID Constructor
PID PIDAngularV(&yIn, &yOut, &yDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Angular Velosity PID Constructor
-
+
/* Thread measures current angular position */
-void Wheelchair::compass_thread()
-{
- curr_yaw = imu->yaw();
- z_angular = curr_yaw;
+void Wheelchair::compass_thread()
+{
+ curr_yaw = imu->yaw();
+ z_angular = curr_yaw;
}
/* Thread measures velocity of wheels and distance traveled */
-void Wheelchair::velocity_thread()
+void Wheelchair::velocity_thread()
{
curr_vel = wheel->getVelocity();
curr_velS = wheelS->getVelocity();
curr_pos = wheel->getDistance(53.975);
}
-void Wheelchair::emergencyButton_thread () {
+void Wheelchair::emergencyButton_thread ()
+{
while(1) {
- signal = 0;
- while(!button) {
-
- //Send something to stop wheelchair
- signal = 1;
-
- printf("Hello there!\n");
- printf("I'm dead\n\n\n");
-
+ while(!e_button) {
+
+ //Stop wheelchair
+ Wheelchair::stop();
+ pc.printf("E-button has been pressed\r\n");
+ j_off.write(high); //turn off PCB
+ j_on.write(0); //make sure PCB not on
//Reset Board
NVIC_SystemReset();
}
-
+
}
}
void Wheelchair::assistSafe_thread()
{
int ToFV[12];
- for(int i = 0; i < 6; i++) // reads from the ToF Sensors
- {
+ for(int i = 0; i < 6; i++) { // reads from the ToF Sensors
ToFV[i] = (*(ToF+i))->readFromOneSensor();
//out->printf("%d ", ToFV[i]);
- }
- //out->printf("\r\n");
+ }
+ //out->printf("\r\n");
int sensor1 = ToFV[1];
int sensor4 = ToFV[5];
//out->printf("%d, %d\r\n", sensor1, sensor4);
- /*if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor1 < curr_vel*curr_vel*1000*1000 ||
- 2 * maxDecelerationSlow*sensor4 < curr_vel*curr_vel*1000*1000) &&
+ /*if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor1 < curr_vel*curr_vel*1000*1000 ||
+ 2 * maxDecelerationSlow*sensor4 < curr_vel*curr_vel*1000*1000) &&
(sensor1 < 1500 || sensor4 < 1500)) ||
550 > sensor1 || 550 > sensor4)
{
@@ -80,8 +76,8 @@
forwardSafety = 1;
}
}
- else if(curr_vel > 1 &&((2 * maxDecelerationFast*sensor1 < curr_vel*curr_vel*1000*1000 ||
- 2 * maxDecelerationFast*sensor4 < curr_vel*curr_vel*1000*1000) &&
+ else if(curr_vel > 1 &&((2 * maxDecelerationFast*sensor1 < curr_vel*curr_vel*1000*1000 ||
+ 2 * maxDecelerationFast*sensor4 < curr_vel*curr_vel*1000*1000) &&
(sensor1 < 1500 || sensor4 < 1500)) ||
550 > sensor1 || 550 > sensor4)
{
@@ -99,14 +95,14 @@
}
/* Constructor for Wheelchair class */
-Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS,
-VL53L1X** ToFT)
+Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS,
+ VL53L1X** ToFT)
{
x_position = 0;
y_position = 0;
forwardSafety = 0;
/* Initializes X and Y variables to Pins */
- x = new PwmOut(xPin);
+ x = new PwmOut(xPin);
y = new PwmOut(yPin);
/* Initializes IMU Library */
out = pc; // "out" is called for serial monitor
@@ -115,68 +111,66 @@
Wheelchair::stop(); // Wheelchair is initially stationary
imu->setup(); // turns on the IMU
wheelS = qeiS; // "wheel" is called for encoder
- wheel = qei;
+ wheel = qei;
ToF = ToFT; // passes pointer with addresses of ToF sensors
-
- for(int i = 0; i < 12; i++) // initializes the ToF Sensors
- {
+
+ for(int i = 0; i < 12; i++) { // initializes the ToF Sensors
(*(ToF+i))->initReading(0x31+((0x02)*i), 50000);
}
-
+
out->printf("wheelchair setup done \r\n"); // Make sure it initialized; prints in serial monitor
ti = time;
-
+
myPID.SetMode(AUTOMATIC); // PID mode: Automatic
}
/* Move wheelchair with joystick on manual mode */
-void Wheelchair::move(float x_coor, float y_coor)
+void Wheelchair::move(float x_coor, float y_coor)
{
- /* Scales one joystick measurement to the chair's joystick measurement */
+ /* Scales one joystick measurement to the chair's joystick measurement */
float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
- /* Sends the scaled joystic values to the chair */
- x->write(scaled_x);
+ /* Sends the scaled joystic values to the chair */
+ x->write(scaled_x);
y->write(scaled_y);
}
-
+
/* Automatic mode: move forward and update x,y coordinate sent to chair */
-void Wheelchair::forward()
+void Wheelchair::forward()
{
//printf("current velosity; %f, curr vel S %f\r\n", curr_vel, curr_velS);
- if(forwardSafety == 0)
- {
- x->write(high);
- y->write(def+offset);
+ if(forwardSafety == 0) {
+ x->write(high);
+ y->write(def+offset);
}
out->printf("%f, %f\r\n", curr_pos, wheelS->getDistance(53.975));
}
-
+
/* Automatic mode: move in reverse and update x,y coordinate sent to chair */
-void Wheelchair::backward()
+void Wheelchair::backward()
{
x->write(low);
y->write(def);
}
-
+
/* Automatic mode: move right and update x,y coordinate sent to chair */
-void Wheelchair::right()
+void Wheelchair::right()
{
x->write(def);
y->write(low);
}
- /* Automatic mode: move left and update x,y coordinate sent to chair */
-void Wheelchair::left()
+/* Automatic mode: move left and update x,y coordinate sent to chair */
+void Wheelchair::left()
{
x->write(def);
y->write(high);
}
-
+
/* Stop the wheelchair */
-void Wheelchair::stop()
+void Wheelchair::stop()
{
x->write(def);
y->write(def);
@@ -185,137 +179,121 @@
/* Counter-clockwise is -
* Clockwise is +
* Range of deg: 0 to 360
- * This constructor takes in an angle from user and adjusts for turning right
+ * This constructor takes in an angle from user and adjusts for turning right
*/
void Wheelchair::pid_right(int deg)
{
bool overturn = false; //Boolean if angle over 360˚
-
- out->printf("pid right\r\r\n");
+
+ out->printf("pid right\r\r\n");
x->write(def); // Update x sent to chair to be stationary
Setpoint = curr_yaw + deg; // Relative angle we want to turn
pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
-
+
/* Turns on overturn boolean if setpoint over 360˚ */
- if(Setpoint > 360)
- {
+ if(Setpoint > 360) {
overturn = true;
}
-
+
myPID.SetTunings(5.5,0, 0.0035); // Sets the constants for P and D
myPID.SetOutputLimits(0, def-low-.15); // Limit is set to the differnce between def and low
myPID.SetControllerDirection(DIRECT); // PID mode: Direct
-
- /* PID stops when approaching a litte less than desired angle */
- while(pid_yaw < Setpoint - 3)
- {
+
+ /* PID stops when approaching a litte less than desired angle */
+ while(pid_yaw < Setpoint - 3) {
/* PID is set to correct angle range if angle greater than 360˚*/
- if(overturn && curr_yaw < Setpoint-deg-1)
- {
- pid_yaw = curr_yaw + 360;
- }
- else
- {
+ if(overturn && curr_yaw < Setpoint-deg-1) {
+ pid_yaw = curr_yaw + 360;
+ } else {
pid_yaw = curr_yaw;
}
-
+
myPID.Compute(); // Does PID calculations
double tempor = -Output+def; // Temporary value with the voltage output
- y->write(tempor); // Update y sent to chair
-
+ y->write(tempor); // Update y sent to chair
+
/* Prints to serial monitor the current angle and setpoint */
- out->printf("curr_yaw %f\r\r\n", curr_yaw);
+ out->printf("curr_yaw %f\r\r\n", curr_yaw);
out->printf("Setpoint = %f \r\n", Setpoint);
-
+
wait(.05); // Small delay (milliseconds)
}
-
+
/* Saftey stop for wheelchair */
- Wheelchair::stop();
+ Wheelchair::stop();
out->printf("done \r\n");
}
-
+
/* Counter-clockwise is -
* Clockwise is +
* Range of deg: 0 to 360
* This constructor takes in an angle from user and adjusts for turning left
*/
-void Wheelchair::pid_left(int deg)
+void Wheelchair::pid_left(int deg)
{
bool overturn = false; //Boolean if angle under 0˚
-
- out->printf("pid Left\r\r\n");
+
+ out->printf("pid Left\r\r\n");
x->write(def); // Update x sent to chair to be stationary
Setpoint = curr_yaw - deg; // Relative angle we want to turn
pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
-
+
/* Turns on overturn boolean if setpoint less than 0˚ */
- if(Setpoint < 0)
- {
+ if(Setpoint < 0) {
overturn = true;
}
-
+
myPID.SetTunings(5,0, 0.004); // Sets the constants for P and D
myPID.SetOutputLimits(0,high-def-.12); //Limit is set to the differnce between def and low
myPID.SetControllerDirection(REVERSE); // PID mode: Reverse
-
+
/* PID stops when approaching a litte more than desired angle */
- while(pid_yaw > Setpoint+3)
- {
- /* PID is set to correct angle range if angle less than 0˚ */
- if(overturn && curr_yaw > Setpoint+deg+1)
- {
- pid_yaw = curr_yaw - 360;
- }
- else
- {
- pid_yaw = curr_yaw;
- }
-
+ while(pid_yaw > Setpoint+3) {
+ /* PID is set to correct angle range if angle less than 0˚ */
+ if(overturn && curr_yaw > Setpoint+deg+1) {
+ pid_yaw = curr_yaw - 360;
+ } else {
+ pid_yaw = curr_yaw;
+ }
+
myPID.Compute(); // Does PID calculations
double tempor = Output+def; // Temporary value with the voltage output
y->write(tempor); // Update y sent to chair
-
+
/* Prints to serial monitor the current angle and setpoint */
out->printf("curr_yaw %f\r\n", curr_yaw);
out->printf("Setpoint = %f \r\n", Setpoint);
-
+
wait(.05); // Small delay (milliseconds)
}
-
- /* Saftey stop for wheelchair */
- Wheelchair::stop();
+
+ /* Saftey stop for wheelchair */
+ Wheelchair::stop();
out->printf("done \r\n");
}
-
+
/* This constructor determines whether to turn left or right */
-void Wheelchair::pid_turn(int deg)
-{
-
- /* Sets angle to coterminal angle for left turn if deg > 180
- * Sets angle to coterminal angle for right turn if deg < -180
- */
- if(deg > 180)
- {
+void Wheelchair::pid_turn(int deg)
+{
+
+ /* Sets angle to coterminal angle for left turn if deg > 180
+ * Sets angle to coterminal angle for right turn if deg < -180
+ */
+ if(deg > 180) {
deg -= 360;
+ } else if(deg < -180) {
+ deg +=360;
}
- else if(deg < -180)
- {
- deg +=360;
- }
-
+
/* Makes sure angle inputted to function is positive */
int turnAmt = abs(deg);
-
+
/* Calls PID_right if deg > 0, else calls PID_left if deg < 0 */
- if(deg >= 0)
- {
- Wheelchair::pid_right(turnAmt);
- }
- else
- {
- Wheelchair::pid_left(turnAmt);
+ if(deg >= 0) {
+ Wheelchair::pid_right(turnAmt);
+ } else {
+ Wheelchair::pid_left(turnAmt);
}
}
@@ -326,44 +304,43 @@
mm -= 20; // Makes sure distance does not overshoot
Input = 0; // Initializes input to zero: Test latter w/o
wheel->reset(); // Resets encoders so that they start at 0
-
+
out->printf("pid foward\r\n");
-
+
double tempor; // Initializes Temporary variable for x input
Setpoint = mm; // Initializes the setpoint to desired value
-
+
myPIDDistance.SetTunings(5.5,0, 0.0015); // Sets constants for P and D
- myPIDDistance.SetOutputLimits(0,high-def-.15); // Limit set to difference between high and def
+ myPIDDistance.SetOutputLimits(0,high-def-.15); // Limit set to difference between high and def
myPIDDistance.SetControllerDirection(DIRECT); // PID mode: Direct
-
+
y->write(def+offset); // Update y to make chair stationary
-
+
/* Chair stops moving when Setpoint is reached */
- while(Input < Setpoint){
-
- if(out->readable()) // Emergency Break
- {
+ while(Input < Setpoint) {
+
+ if(out->readable()) { // Emergency Break
break;
}
Input = wheel->getDistance(53.975); // Gets distance from Encoder into PID
wait(.05); // Slight Delay: *****Test without
myPIDDistance.Compute(); // Compute distance traveled by chair
-
- tempor = Output + def; // Temporary output variable
+
+ tempor = Output + def; // Temporary output variable
x->write(tempor); // Update x sent to chair
/* Prints to serial monitor the distance traveled by chair */
out->printf("distance %f\r\n", Input);
- }
-
-}
+ }
+
+}
/* This constructor returns the relative angular position of chair */
double Wheelchair::getTwistZ()
{
return imu->gyro_z();
-}
+}
/* This constructor computes the relative angle for Twist message in ROS */
void Wheelchair::pid_twistA()
@@ -371,40 +348,38 @@
/* Initialize variables for angle and update x,y sent to chair */
char c;
double temporA = def;
- y->write(def);
- x->write(def);
-
+ y->write(def);
+ x->write(def);
+
PIDAngularV.SetTunings(.00015,0, 0.00); // Sets the constants for P and D
PIDAngularV.SetOutputLimits(-.1, .1); // Limit set to be in range specified
PIDAngularV.SetControllerDirection(DIRECT); // PID mode: Direct
-
+
/* Computes angular position of wheelchair while turning */
- while(1)
- {
+ while(1) {
yDesired = angularV;
-
+
/* Update and set all variable so that the chair is stationary
* if the desired angle is zero
*/
- if(yDesired == 0)
- {
+ if(yDesired == 0) {
x->write(def);
y->write(def);
yDesired = 0;
return;
}
-
+
/* Continuously updates with current angle measured by IMU */
- yIn = imu->gyro_z();
+ yIn = imu->gyro_z();
PIDAngularV.Compute();
temporA += yOut; // Temporary value with the voltage output
y->write(temporA); // Update y sent to chair
-
+
//out->printf("temporA: %f, yDesired %f, angle: %f\r\n", temporA, yDesired, imu->gyro_z());
wait(.05); // Small delay (milliseconds)
}
-
-}
+
+}
/* This constructor computes the relative velocity for Twist message in ROS */
void Wheelchair::pid_twistV()
@@ -417,30 +392,28 @@
y->write(def);
wheel->reset(); // Resets the encoders
/* Sets the constants for P and D */
- PIDVelosity.SetTunings(.0005,0, 0.00);
- PIDSlaveV.SetTunings(.005,0.000001, 0.000001);
-
+ PIDVelosity.SetTunings(.0005,0, 0.00);
+ PIDSlaveV.SetTunings(.005,0.000001, 0.000001);
+
/* Limits to the range specified */
- PIDVelosity.SetOutputLimits(-.005, .005);
- PIDSlaveV.SetOutputLimits(-.002, .002);
-
+ PIDVelosity.SetOutputLimits(-.005, .005);
+ PIDSlaveV.SetOutputLimits(-.002, .002);
+
/* PID mode: Direct */
- PIDVelosity.SetControllerDirection(DIRECT);
- PIDSlaveV.SetControllerDirection(DIRECT);
-
- while(1)
- {
+ PIDVelosity.SetControllerDirection(DIRECT);
+ PIDSlaveV.SetControllerDirection(DIRECT);
+
+ while(1) {
linearV = .7;
test1 = linearV*100;
vel = curr_vel;
vDesired = linearV*100;
if(out->readable())
return;
- /* Update and set all variable so that the chair is stationary
- * if the velocity is zero
- */
- if(linearV == 0)
- {
+ /* Update and set all variable so that the chair is stationary
+ * if the velocity is zero
+ */
+ if(linearV == 0) {
x->write(def);
y->write(def);
@@ -449,21 +422,17 @@
dist_old = 0;
return;
}
-
- if(vDesired >= 0)
- {
+
+ if(vDesired >= 0) {
PIDVelosity.SetTunings(.000004,0, 0.00); // Sets the constants for P and D
PIDVelosity.SetOutputLimits(-.002, .002); // Limits to the range specified
- }
- else
- {
+ } else {
PIDVelosity.SetTunings(.000015,0, 0.00); // Sets the constants for P and D
PIDVelosity.SetOutputLimits(-.0005, .0005); // Limits to range specified
- }
-
+ }
+
/* Sets maximum value of variable to 1 */
- if(temporV >= 1.5)
- {
+ if(temporV >= 1.5) {
temporV = 1.5;
}
/* Scales and makes some adjustments to velocity */
@@ -471,18 +440,15 @@
vInS = curr_vel-curr_velS;
PIDVelosity.Compute();
PIDSlaveV.Compute();
- if(forwardSafety == 0)
- {
- temporV += vOut;
- temporS += vOutS;
-
- /* Updates x,y sent to Wheelchair and for Odometry message in ROS */
- x->write(temporV);
- test2 = temporV;
- y->write(temporS);
- }
- else
- {
+ if(forwardSafety == 0) {
+ temporV += vOut;
+ temporS += vOutS;
+
+ /* Updates x,y sent to Wheelchair and for Odometry message in ROS */
+ x->write(temporV);
+ test2 = temporV;
+ y->write(temporS);
+ } else {
x->write(def);
y->write(def);
}
@@ -501,18 +467,18 @@
double dist = dist_new-dist_old;
double temp_x = dist*sin(z_angular*3.14159/180);
double temp_y = dist*cos(z_angular*3.14159/180);
-
+
x_position += temp_x;
y_position += temp_y;
-
+
dist_old = dist_new;
- }
+}
/* This constructor prints the Odometry message to the serial monitor */
- void Wheelchair::showOdom()
- {
- out->printf("x %f, y %f, angle %f", x_position, y_position, z_angular);
- }
+void Wheelchair::showOdom()
+{
+ out->printf("x %f, y %f, angle %f", x_position, y_position, z_angular);
+}
/* This constructor returns the approximate distance based on the wheel diameter */
float Wheelchair::getDistance()
@@ -527,8 +493,8 @@
}
-/*Predetermined paths For Demmo*/
-void Wheelchair::desk()
+/*Predetermined paths For Demmo*/
+void Wheelchair::desk()
{
Wheelchair::pid_forward(5461);
Wheelchair::pid_right(87);
@@ -536,8 +502,8 @@
Wheelchair::pid_right(87);
Wheelchair::pid_forward(3658);
}
-
-void Wheelchair::kitchen()
+
+void Wheelchair::kitchen()
{
Wheelchair::pid_forward(5461);
Wheelchair::pid_right(87);
@@ -545,7 +511,7 @@
Wheelchair::pid_left(90);
Wheelchair::pid_forward(305);
}
-
+
void Wheelchair::desk_to_kitchen()
{
Wheelchair::pid_right(180);