Affordable Smart Wheelchair / wheelchaircontrol2

Revised for integration

Dependencies:   QEI2 chair_BNO055 PID VL53L1X_Filter

wheelchair.cpp@25:58ec657a44f2, 2018-10-27 (annotated)

Committer:
jvfausto
Date:
Sat Oct 27 16:47:50 2018 +0000
Revision:
25:58ec657a44f2
Parent:
24:d2f234fbc20d 
With odometry

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 0:fc0c4a184482 1 #include "wheelchair.h"
jvfausto 25:58ec657a44f2 2
jvfausto 23:8d11d953ceeb 3 bool manual_drive = false; // Variable Changes between joystick and auto drive
jvfausto 24:d2f234fbc20d 4 double curr_yaw, curr_vel, curr_velS; // Variable that contains current relative angle
jvfausto 23:8d11d953ceeb 5 double encoder_distance; // Keeps distanse due to original position
jvfausto 25:58ec657a44f2 6
jvfausto 23:8d11d953ceeb 7 volatile double Setpoint, Output, Input, Input2; // Variables for PID
jvfausto 23:8d11d953ceeb 8 volatile double pid_yaw, Distance, Setpoint2, Output2, encoder_distance2; // Variables for PID
jvfausto 24:d2f234fbc20d 9 volatile double vIn, vOut, vDesired;
jvfausto 24:d2f234fbc20d 10 volatile double vInS, vOutS, vDesiredS;
jvfausto 24:d2f234fbc20d 11 volatile double yIn, yOut, yDesired;
jvfausto 19:71a6621ee5c3 12
jvfausto 25:58ec657a44f2 13 double z_angular, dist_old, curr_pos;
jvfausto 25:58ec657a44f2 14 double x_position = 0;
jvfausto 25:58ec657a44f2 15 double y_position = 0;
jvfausto 25:58ec657a44f2 16
jvfausto 23:8d11d953ceeb 17 PID myPID(&pid_yaw, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT); // Angle PID object constructor
jvfausto 23:8d11d953ceeb 18 PID myPIDDistance(&Input, &Output, &Setpoint, 5.5, .00, 0.002, P_ON_E, DIRECT); // Distance PID object constructor
jvfausto 24:d2f234fbc20d 19 PID PIDVelosity(&vIn, &vOut, &vDesired, 5.5, .00, .002, P_ON_E, DIRECT);
jvfausto 24:d2f234fbc20d 20 PID PIDSlaveV(&vInS, &vOutS, &vDesiredS, 5.5, .00, .002, P_ON_E, DIRECT);
jvfausto 24:d2f234fbc20d 21 PID PIDAngularV(&yIn, &yOut, &yDesired, 5.5, .00, .002, P_ON_E, DIRECT);
jvfausto 25:58ec657a44f2 22
jvfausto 23:8d11d953ceeb 23 void Wheelchair::compass_thread() { // Thread that measures which angle we are at
ryanlin97 11:d14a1f7f1297 24 curr_yaw = imu->yaw();
jvfausto 25:58ec657a44f2 25 z_angular = curr_yaw;
ryanlin97 11:d14a1f7f1297 26 }
jvfausto 24:d2f234fbc20d 27 void Wheelchair::velosity_thread() {
jvfausto 24:d2f234fbc20d 28 curr_vel = wheel->getVelosity();
jvfausto 24:d2f234fbc20d 29 curr_velS = wheelS->getVelosity();
jvfausto 25:58ec657a44f2 30 curr_pos = wheel->getDistance(53.975);
jvfausto 24:d2f234fbc20d 31 }
ryanlin97 11:d14a1f7f1297 32
jvfausto 24:d2f234fbc20d 33 Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS) // Function Constructor for Wheelchair class
ryanlin97 1:c0beadca1617 34 {
jvfausto 23:8d11d953ceeb 35 //Initializes X and Y variables to Pins
jvfausto 23:8d11d953ceeb 36 x = new PwmOut(xPin);
ryanlin97 3:a5e71bfdb492 37 y = new PwmOut(yPin);
jvfausto 23:8d11d953ceeb 38
jvfausto 23:8d11d953ceeb 39 // Initializes IMU Library
ryanlin97 11:d14a1f7f1297 40 imu = new chair_BNO055(pc, time);
jvfausto 23:8d11d953ceeb 41 Wheelchair::stop(); // Wheelchair is not moving when initializing
jvfausto 23:8d11d953ceeb 42 imu->setup(); // turns on the IMU
jvfausto 23:8d11d953ceeb 43 out = pc; // "out" is called for serial monitor
jvfausto 24:d2f234fbc20d 44 wheelS = qeiS; // "wheel" is called for encoder
jvfausto 24:d2f234fbc20d 45 wheel = qei;
jvfausto 23:8d11d953ceeb 46 out->printf("wheelchair setup done \r\n"); // make sure it initialized
ryanlin97 11:d14a1f7f1297 47 ti = time;
jvfausto 23:8d11d953ceeb 48 myPID.SetMode(AUTOMATIC); // set PID to automatic
ryanlin97 1:c0beadca1617 49 }
jvfausto 25:58ec657a44f2 50
jvfausto 23:8d11d953ceeb 51 void Wheelchair::move(float x_coor, float y_coor) // moves the chair with joystick on manual
ryanlin97 1:c0beadca1617 52 {
jvfausto 25:58ec657a44f2 53
jvfausto 23:8d11d953ceeb 54 float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f; // Scales one joystic measurement to the
jvfausto 23:8d11d953ceeb 55 float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f; // chair's joystic measurement
ryanlin97 11:d14a1f7f1297 56
jvfausto 23:8d11d953ceeb 57 x->write(scaled_x); // Sends the scaled joystic values to the chair
ryanlin97 4:29a27953fe70 58 y->write(scaled_y);
ryanlin97 5:e0ccaab3959a 59 }
jvfausto 25:58ec657a44f2 60
jvfausto 23:8d11d953ceeb 61 void Wheelchair::forward() // In auto to move foward
ryanlin97 1:c0beadca1617 62 {
ryanlin97 0:fc0c4a184482 63 x->write(high);
ryanlin97 3:a5e71bfdb492 64 y->write(def+offset);
ryanlin97 0:fc0c4a184482 65 }
jvfausto 25:58ec657a44f2 66
jvfausto 23:8d11d953ceeb 67 void Wheelchair::backward() // In auto to move reverse
ryanlin97 1:c0beadca1617 68 {
ryanlin97 0:fc0c4a184482 69 x->write(low);
ryanlin97 0:fc0c4a184482 70 y->write(def);
ryanlin97 0:fc0c4a184482 71 }
jvfausto 25:58ec657a44f2 72
jvfausto 23:8d11d953ceeb 73 void Wheelchair::right() // In auto to move right
ryanlin97 1:c0beadca1617 74 {
ryanlin97 0:fc0c4a184482 75 x->write(def);
ryanlin97 11:d14a1f7f1297 76 y->write(low);
ryanlin97 0:fc0c4a184482 77 }
jvfausto 25:58ec657a44f2 78
jvfausto 23:8d11d953ceeb 79 void Wheelchair::left() // In auto to move left
ryanlin97 1:c0beadca1617 80 {
ryanlin97 0:fc0c4a184482 81 x->write(def);
ryanlin97 11:d14a1f7f1297 82 y->write(high);
ryanlin97 0:fc0c4a184482 83 }
jvfausto 25:58ec657a44f2 84
jvfausto 23:8d11d953ceeb 85 void Wheelchair::stop() // Stops the chair
ryanlin97 1:c0beadca1617 86 {
ryanlin97 0:fc0c4a184482 87 x->write(def);
ryanlin97 0:fc0c4a184482 88 y->write(def);
ryanlin97 6:0cd57bdd8fbc 89 }
ryanlin97 11:d14a1f7f1297 90 // counter clockwise is -
ryanlin97 11:d14a1f7f1297 91 // clockwise is +
jvfausto 23:8d11d953ceeb 92 void Wheelchair::pid_right(int deg) // Takes in degree and turns right
ryanlin97 12:921488918749 93 {
jvfausto 23:8d11d953ceeb 94 bool overturn = false; //Boolean if we have to turn over relative 360˚
ryanlin97 12:921488918749 95
jvfausto 23:8d11d953ceeb 96 out->printf("pid right\r\r\n");
jvfausto 23:8d11d953ceeb 97 x->write(def); // Not moving fowards or reverse
jvfausto 23:8d11d953ceeb 98 Setpoint = curr_yaw + deg; // Relative angle we want to turn
jvfausto 23:8d11d953ceeb 99 pid_yaw = curr_yaw; // Sets input to current angle(pid_yaw = input)
jvfausto 23:8d11d953ceeb 100
jvfausto 23:8d11d953ceeb 101 if(Setpoint > 360) { //Turns on overturn boolean if setpoint over 360˚
ryanlin97 12:921488918749 102 overturn = true;
ryanlin97 12:921488918749 103 }
jvfausto 23:8d11d953ceeb 104
jvfausto 23:8d11d953ceeb 105 myPID.SetTunings(5.5,0, 0.0035); // Sets the constants for P and D
jvfausto 23:8d11d953ceeb 106 myPID.SetOutputLimits(0, def-low-.15); // Limits to the differnce between def and low
jvfausto 23:8d11d953ceeb 107 myPID.SetControllerDirection(DIRECT); // PID mode Direct
jvfausto 23:8d11d953ceeb 108
jvfausto 23:8d11d953ceeb 109 while(pid_yaw < Setpoint - 3){ // Tells PID to stop when reaching
jvfausto 23:8d11d953ceeb 110 // a little less than desired angle
jvfausto 23:8d11d953ceeb 111 if(overturn && curr_yaw < Setpoint-deg-1) // Sets PID yaw to coterminal angle if necesary
jvfausto 17:7f3b69300bb6 112 {
jvfausto 17:7f3b69300bb6 113 pid_yaw = curr_yaw + 360;
jvfausto 17:7f3b69300bb6 114 }
jvfausto 17:7f3b69300bb6 115 else
jvfausto 17:7f3b69300bb6 116 pid_yaw = curr_yaw;
jvfausto 23:8d11d953ceeb 117
jvfausto 23:8d11d953ceeb 118 myPID.Compute(); // Does PID calculations
jvfausto 23:8d11d953ceeb 119 double tempor = -Output+def; // Temporary value with the voltage output
jvfausto 23:8d11d953ceeb 120 y->write(tempor); // Sends to chair y output command
jvfausto 23:8d11d953ceeb 121
jvfausto 23:8d11d953ceeb 122 out->printf("curr_yaw %f\r\r\n", curr_yaw);
jvfausto 17:7f3b69300bb6 123 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 25:58ec657a44f2 124
jvfausto 23:8d11d953ceeb 125 wait(.05); // Small delay
ryanlin97 12:921488918749 126 }
jvfausto 23:8d11d953ceeb 127 Wheelchair::stop(); // Safety Stop
jvfausto 17:7f3b69300bb6 128 out->printf("done \r\n");
jvfausto 23:8d11d953ceeb 129 }
jvfausto 25:58ec657a44f2 130
jvfausto 23:8d11d953ceeb 131 void Wheelchair::pid_left(int deg) // Takes in degree and turns left
ryanlin97 12:921488918749 132 {
jvfausto 23:8d11d953ceeb 133 bool overturn = false; //Boolean if we have to turn under relative 0˚
ryanlin97 12:921488918749 134
jvfausto 23:8d11d953ceeb 135 out->printf("pid Left\r\r\n");
jvfausto 23:8d11d953ceeb 136 x->write(def); // Not moving fowards or reverse
jvfausto 23:8d11d953ceeb 137 Setpoint = curr_yaw - deg; // Relative angle we want to turn
jvfausto 23:8d11d953ceeb 138 pid_yaw = curr_yaw; // Sets input to current angle(pid_yaw = input)
jvfausto 23:8d11d953ceeb 139 if(Setpoint < 0) { //Turns on overturn boolean if setpoint under 0˚
ryanlin97 12:921488918749 140 overturn = true;
ryanlin97 12:921488918749 141 }
jvfausto 23:8d11d953ceeb 142 myPID.SetTunings(5,0, 0.004); // Sets the constants for P and D
jvfausto 23:8d11d953ceeb 143 myPID.SetOutputLimits(0,high-def-.12); // Limits to the differnce between High and Def
jvfausto 23:8d11d953ceeb 144 myPID.SetControllerDirection(REVERSE); // PID mode Reverse
jvfausto 23:8d11d953ceeb 145 while(pid_yaw > Setpoint+3){ // Tells PID to stop when reaching
jvfausto 23:8d11d953ceeb 146 // a little more than desired angle
jvfausto 23:8d11d953ceeb 147 if(overturn && curr_yaw > Setpoint+deg+1) // Sets PID yaw to coterminal angle if necesary
jvfausto 17:7f3b69300bb6 148 {
jvfausto 17:7f3b69300bb6 149 pid_yaw = curr_yaw - 360;
jvfausto 17:7f3b69300bb6 150 }
jvfausto 17:7f3b69300bb6 151 else
jvfausto 17:7f3b69300bb6 152 pid_yaw = curr_yaw;
jvfausto 23:8d11d953ceeb 153
jvfausto 23:8d11d953ceeb 154 myPID.Compute(); // Does PID calculations
jvfausto 23:8d11d953ceeb 155 double tempor = Output+def; // Temporary value with the voltage output
jvfausto 23:8d11d953ceeb 156 y->write(tempor); // Sends to chair y output command
jvfausto 23:8d11d953ceeb 157
jvfausto 17:7f3b69300bb6 158 out->printf("curr_yaw %f\r\n", curr_yaw);
jvfausto 23:8d11d953ceeb 159 wait(.05); // Small Delay
ryanlin97 12:921488918749 160 }
jvfausto 23:8d11d953ceeb 161 Wheelchair::stop(); // Safety Stop
jvfausto 23:8d11d953ceeb 162 }
jvfausto 25:58ec657a44f2 163
jvfausto 23:8d11d953ceeb 164 void Wheelchair::pid_turn(int deg) { // Determine wether we are turn right or left
jvfausto 25:58ec657a44f2 165
jvfausto 23:8d11d953ceeb 166 if(deg > 180) { // If deg > 180 turn left: coterminal angle
ryanlin97 12:921488918749 167 deg -= 360;
ryanlin97 12:921488918749 168 }
jvfausto 25:58ec657a44f2 169
jvfausto 23:8d11d953ceeb 170 else if(deg < -180) { // If deg < -180 turn right: coterminal angle
ryanlin97 12:921488918749 171 deg+=360;
ryanlin97 12:921488918749 172 }
ryanlin97 12:921488918749 173
jvfausto 23:8d11d953ceeb 174 int turnAmt = abs(deg); // Makes sure input angle is positive
jvfausto 25:58ec657a44f2 175
ryanlin97 12:921488918749 176 if(deg >= 0){
jvfausto 23:8d11d953ceeb 177 Wheelchair::pid_right(turnAmt); // Calls PID right if positive degree
jvfausto 23:8d11d953ceeb 178 }
ryanlin97 12:921488918749 179 else {
jvfausto 23:8d11d953ceeb 180 Wheelchair::pid_left(turnAmt); // Calls PID left if negative degree
ryanlin97 12:921488918749 181 }
jvfausto 23:8d11d953ceeb 182 }
jvfausto 19:71a6621ee5c3 183 void Wheelchair::pid_forward(double mm)
jvfausto 17:7f3b69300bb6 184 {
jvfausto 23:8d11d953ceeb 185 mm -= 20; // Makes sure distance does not overshoot
jvfausto 23:8d11d953ceeb 186 Input = 0; // Initializes imput to cero: Test latter w/o
jvfausto 23:8d11d953ceeb 187 wheel->reset(); // Resets encoders so that they start at 0
jvfausto 17:7f3b69300bb6 188 out->printf("pid foward\r\n");
jvfausto 25:58ec657a44f2 189
jvfausto 23:8d11d953ceeb 190 double tempor; // Initializes Temporary variable for x input
jvfausto 23:8d11d953ceeb 191 Setpoint = mm; // Initializes the setpoint to desired value
jvfausto 25:58ec657a44f2 192
jvfausto 23:8d11d953ceeb 193 myPIDDistance.SetTunings(5.5,0, 0.0015); // Sets constants for P and D
jvfausto 23:8d11d953ceeb 194 myPIDDistance.SetOutputLimits(0,high-def-.15); // Limits to the differnce between High and Def
jvfausto 23:8d11d953ceeb 195 myPIDDistance.SetControllerDirection(DIRECT); // PID to Direct
jvfausto 23:8d11d953ceeb 196 y->write(def+offset); // Sets chair to not turn
jvfausto 23:8d11d953ceeb 197
jvfausto 23:8d11d953ceeb 198 while(Input < Setpoint){ // Stop moving when reaching setpoint
jvfausto 23:8d11d953ceeb 199
jvfausto 23:8d11d953ceeb 200 if(out->readable()) // Emergency Break
jvfausto 19:71a6621ee5c3 201 break;
jvfausto 23:8d11d953ceeb 202
jvfausto 23:8d11d953ceeb 203 Input = wheel->getDistance(53.975); // Gets Distance from Encoder onto PID
jvfausto 23:8d11d953ceeb 204 wait(.05); // Slight Delay: *****Test without
jvfausto 23:8d11d953ceeb 205 myPIDDistance.Compute(); // Compute Output for chair
jvfausto 25:58ec657a44f2 206
jvfausto 23:8d11d953ceeb 207 tempor = Output + def; // Temporary output variable
jvfausto 23:8d11d953ceeb 208 x->write(tempor); // Sends to chair x output
jvfausto 19:71a6621ee5c3 209 out->printf("distance %f\r\n", Input);
jvfausto 17:7f3b69300bb6 210 }
ryanlin97 12:921488918749 211
jvfausto 17:7f3b69300bb6 212 }
jvfausto 17:7f3b69300bb6 213 void Wheelchair::pid_reverse(double mm)
jvfausto 17:7f3b69300bb6 214 {
jvfausto 25:58ec657a44f2 215
jvfausto 17:7f3b69300bb6 216 }
jvfausto 24:d2f234fbc20d 217 void Wheelchair::pid_twistA()
jvfausto 24:d2f234fbc20d 218 {
jvfausto 24:d2f234fbc20d 219 char c;
jvfausto 24:d2f234fbc20d 220 double temporA = def;
jvfausto 24:d2f234fbc20d 221 y->write(def);
jvfausto 24:d2f234fbc20d 222 x->write(def);
jvfausto 25:58ec657a44f2 223
jvfausto 24:d2f234fbc20d 224 PIDAngularV.SetTunings(.00015,0, 0.00); // Sets the constants for P and D
jvfausto 24:d2f234fbc20d 225 PIDAngularV.SetOutputLimits(-.1, .1); // Limits to the differnce between def and low
jvfausto 24:d2f234fbc20d 226 PIDAngularV.SetControllerDirection(DIRECT); // PID mode Direct
jvfausto 24:d2f234fbc20d 227 while(1)
jvfausto 24:d2f234fbc20d 228 {
jvfausto 24:d2f234fbc20d 229 if(out->readable())
jvfausto 24:d2f234fbc20d 230 c = out->getc();
jvfausto 24:d2f234fbc20d 231 if(c == '0')
jvfausto 24:d2f234fbc20d 232 {
jvfausto 24:d2f234fbc20d 233 yDesired = 0;
jvfausto 24:d2f234fbc20d 234 }
jvfausto 24:d2f234fbc20d 235 if(c == '1')
jvfausto 24:d2f234fbc20d 236 yDesired = 30;
jvfausto 24:d2f234fbc20d 237 if(c == '2')
jvfausto 24:d2f234fbc20d 238 yDesired = 90;
jvfausto 24:d2f234fbc20d 239 if(c == '9')
jvfausto 24:d2f234fbc20d 240 yDesired = -30;
jvfausto 24:d2f234fbc20d 241 if(c == '8')
jvfausto 24:d2f234fbc20d 242 yDesired = -90;
jvfausto 24:d2f234fbc20d 243 if(c == 'r')
jvfausto 24:d2f234fbc20d 244 {
jvfausto 24:d2f234fbc20d 245 yDesired = 0;
jvfausto 24:d2f234fbc20d 246 return;
jvfausto 24:d2f234fbc20d 247 }
jvfausto 24:d2f234fbc20d 248
jvfausto 24:d2f234fbc20d 249 yIn = imu->gyro_z();
jvfausto 24:d2f234fbc20d 250 PIDAngularV.Compute();
jvfausto 24:d2f234fbc20d 251 temporA += yOut; // Temporary value with the voltage output
jvfausto 24:d2f234fbc20d 252 y->write(temporA);
jvfausto 25:58ec657a44f2 253 //out->printf("temporA: %f, yDesired %f, angle: %f\r\n", temporA, yDesired, imu->gyro_z());
jvfausto 24:d2f234fbc20d 254 wait(.05);
jvfausto 24:d2f234fbc20d 255 }
jvfausto 24:d2f234fbc20d 256 }
jvfausto 24:d2f234fbc20d 257 void Wheelchair::pid_twistV()
jvfausto 24:d2f234fbc20d 258 {
jvfausto 24:d2f234fbc20d 259 double temporV = def;
jvfausto 24:d2f234fbc20d 260 double temporS = def;
jvfausto 24:d2f234fbc20d 261 vDesiredS = 0;
jvfausto 24:d2f234fbc20d 262 char c;
jvfausto 24:d2f234fbc20d 263 x->write(def);
jvfausto 24:d2f234fbc20d 264 y->write(def);
jvfausto 25:58ec657a44f2 265 wheel->reset();
jvfausto 24:d2f234fbc20d 266 PIDVelosity.SetTunings(.00005,0, 0.00); // Sets the constants for P and D
jvfausto 24:d2f234fbc20d 267 PIDSlaveV.SetTunings(.007,0.000001, 0.000001); // Sets the constants for P and D
jvfausto 24:d2f234fbc20d 268 PIDVelosity.SetOutputLimits(-.005, .005); // Limits to the differnce between def and low
jvfausto 24:d2f234fbc20d 269 PIDSlaveV.SetOutputLimits(-.002, .002); // Limits to the differnce between def and low
jvfausto 24:d2f234fbc20d 270 PIDVelosity.SetControllerDirection(DIRECT);
jvfausto 24:d2f234fbc20d 271 PIDSlaveV.SetControllerDirection(DIRECT);
jvfausto 24:d2f234fbc20d 272 while(1)
jvfausto 24:d2f234fbc20d 273 {
jvfausto 24:d2f234fbc20d 274 if(out->readable())
jvfausto 24:d2f234fbc20d 275 c = out->getc();
jvfausto 24:d2f234fbc20d 276 if(c == '0')
jvfausto 24:d2f234fbc20d 277 vDesired = 0;
jvfausto 24:d2f234fbc20d 278 if(c == '3')
jvfausto 24:d2f234fbc20d 279 vDesired = 100;
jvfausto 24:d2f234fbc20d 280 if(c == '4')
jvfausto 24:d2f234fbc20d 281 vDesired = 150;
jvfausto 24:d2f234fbc20d 282 if(c == '7')
jvfausto 24:d2f234fbc20d 283 vDesired = -50;
jvfausto 24:d2f234fbc20d 284 if(c == '6')
jvfausto 24:d2f234fbc20d 285 vDesired = -100;
jvfausto 24:d2f234fbc20d 286 if(c == 'r')
jvfausto 24:d2f234fbc20d 287 {
jvfausto 24:d2f234fbc20d 288 yDesired = 0;
jvfausto 25:58ec657a44f2 289 dist_old = 0;
jvfausto 24:d2f234fbc20d 290 return;
jvfausto 24:d2f234fbc20d 291 }
jvfausto 24:d2f234fbc20d 292 if(vDesired >= 0)
jvfausto 24:d2f234fbc20d 293 {
jvfausto 25:58ec657a44f2 294 PIDVelosity.SetTunings(.000004,0, 0.00); // Sets the constants for P and D
jvfausto 25:58ec657a44f2 295 PIDVelosity.SetOutputLimits(-.002, .002); // Limits to the differnce between def and low
jvfausto 24:d2f234fbc20d 296 }
jvfausto 24:d2f234fbc20d 297 else
jvfausto 24:d2f234fbc20d 298 {
jvfausto 24:d2f234fbc20d 299 PIDVelosity.SetTunings(.000015,0, 0.00); // Sets the constants for P and D
jvfausto 24:d2f234fbc20d 300 PIDVelosity.SetOutputLimits(-.0005, .0005); // Limits to the differnce between def and low
jvfausto 24:d2f234fbc20d 301 }
jvfausto 24:d2f234fbc20d 302 if(temporV >= 1)
jvfausto 24:d2f234fbc20d 303 temporV = 1;
jvfausto 24:d2f234fbc20d 304 vIn = curr_vel*100;
jvfausto 24:d2f234fbc20d 305 vInS = curr_vel-curr_velS;
jvfausto 24:d2f234fbc20d 306 PIDVelosity.Compute();
jvfausto 24:d2f234fbc20d 307 PIDSlaveV.Compute();
jvfausto 24:d2f234fbc20d 308 temporV += vOut;
jvfausto 24:d2f234fbc20d 309 temporS += vOutS;
jvfausto 24:d2f234fbc20d 310 x->write(temporV);
jvfausto 24:d2f234fbc20d 311 y->write(temporS);
jvfausto 25:58ec657a44f2 312 //out->printf("Velosity: %f, Velosity2: %f, temporV %f, temporS %f\r\n", curr_vel, curr_velS, temporV, temporS);
jvfausto 25:58ec657a44f2 313 Wheelchair::odomMsg();
jvfausto 24:d2f234fbc20d 314 wait(.01);
jvfausto 24:d2f234fbc20d 315 }
jvfausto 24:d2f234fbc20d 316 }
jvfausto 25:58ec657a44f2 317 void Wheelchair::odomMsg(){
jvfausto 25:58ec657a44f2 318 double dist_new = curr_pos;
jvfausto 25:58ec657a44f2 319 double dist = dist_new-dist_old;
jvfausto 25:58ec657a44f2 320 double temp_x = dist*sin(z_angular*3.14159/180);
jvfausto 25:58ec657a44f2 321 double temp_y = dist*cos(z_angular*3.14159/180);
jvfausto 25:58ec657a44f2 322
jvfausto 25:58ec657a44f2 323 x_position += temp_x;
jvfausto 25:58ec657a44f2 324 y_position += temp_y;
jvfausto 25:58ec657a44f2 325
jvfausto 25:58ec657a44f2 326 dist_old = dist_new;
jvfausto 25:58ec657a44f2 327 }
jvfausto 25:58ec657a44f2 328 void Wheelchair::showOdom(){
jvfausto 25:58ec657a44f2 329 out->printf("x %f, y %f, angle %f", x_position, y_position, z_angular);
jvfausto 25:58ec657a44f2 330 }
ryanlin97 12:921488918749 331 float Wheelchair::getDistance() {
ryanlin97 12:921488918749 332 return wheel->getDistance(Diameter);
ryanlin97 12:921488918749 333 }
ryanlin97 12:921488918749 334
ryanlin97 12:921488918749 335 void Wheelchair::resetDistance(){
ryanlin97 12:921488918749 336 wheel->reset();
ryanlin97 12:921488918749 337 }
jvfausto 23:8d11d953ceeb 338 /*Predetermined paths For Demmo*/
jvfausto 19:71a6621ee5c3 339 void Wheelchair::desk() {
jvfausto 19:71a6621ee5c3 340 Wheelchair::pid_forward(5461);
jvfausto 19:71a6621ee5c3 341 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 342 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 343 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 344 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 345 }
jvfausto 25:58ec657a44f2 346
jvfausto 19:71a6621ee5c3 347 void Wheelchair::kitchen() {
jvfausto 19:71a6621ee5c3 348 Wheelchair::pid_forward(5461);
jvfausto 20:f42db4ae16f0 349 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 350 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 351 Wheelchair::pid_left(90);
jvfausto 19:71a6621ee5c3 352 Wheelchair::pid_forward(305);
jvfausto 19:71a6621ee5c3 353 }
jvfausto 25:58ec657a44f2 354
jvfausto 19:71a6621ee5c3 355 void Wheelchair::desk_to_kitchen(){
jvfausto 19:71a6621ee5c3 356 Wheelchair::pid_right(180);
jvfausto 19:71a6621ee5c3 357 Wheelchair::pid_forward(3700);
jvfausto 19:71a6621ee5c3 358 }
jvfausto 25:58ec657a44f2 359
jvfausto 25:58ec657a44f2 360