Affordable Smart Wheelchair / wheelchaircontrol2

Revised for integration

Dependencies:   QEI2 chair_BNO055 PID VL53L1X_Filter

wheelchair.h@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 #ifndef wheelchair
ryanlin97 0:fc0c4a184482 2 #define wheelchair
ryanlin97 0:fc0c4a184482 3
jvfausto 23:8d11d953ceeb 4 //Importing libraries into wheelchair.h
ryanlin97 11:d14a1f7f1297 5 #include "chair_BNO055.h"
jvfausto 17:7f3b69300bb6 6 #include "PID.h"
ryanlin97 12:921488918749 7 #include "QEI.h"
ryanlin97 16:b403082eeacd 8 #include <ros.h>
ryanlin97 16:b403082eeacd 9 #include <geometry_msgs/Twist.h>
ryanlin97 12:921488918749 10
ryanlin97 14:9caca9fde9b0 11
jvfausto 23:8d11d953ceeb 12 /*
jvfausto 23:8d11d953ceeb 13 * joystick has analog out of 200-700, scale values between 1.3 and 3.3
jvfausto 23:8d11d953ceeb 14 */
jvfausto 23:8d11d953ceeb 15 #define def (2.5f/3.3f) //Default axis on joystick to stay neutral; used on x and y axis
jvfausto 23:8d11d953ceeb 16 #define high 3.3f/3.3f //High power on joystick; used on x and y axis
jvfausto 23:8d11d953ceeb 17 #define low (1.7f/3.3f) //Low power on joystick; used on x and y axis
jvfausto 23:8d11d953ceeb 18 #define offset .035f //Joystick ajustment to be able to go strait. Chair dependent on manufactoring presision
jvfausto 23:8d11d953ceeb 19 #define process .1 //Defines default time delay in seconds
ryanlin97 14:9caca9fde9b0 20
jvfausto 23:8d11d953ceeb 21 //Pin plug in for Nucleo-L432KC
jvfausto 23:8d11d953ceeb 22 #define xDir D9 //PWM Pins
ryanlin97 14:9caca9fde9b0 23 #define yDir D10
jvfausto 23:8d11d953ceeb 24 #define Encoder1 D7 //Digital In Pull Up Pin
ryanlin97 14:9caca9fde9b0 25 #define Encoder2 D8
ryanlin97 14:9caca9fde9b0 26
jvfausto 23:8d11d953ceeb 27 #define Diameter 31.75 //Diameter of encoder wheel
ryanlin97 12:921488918749 28 /** Wheelchair class
ryanlin97 12:921488918749 29 * Used for controlling the smart wheelchair
ryanlin97 12:921488918749 30 */
jvfausto 17:7f3b69300bb6 31
ryanlin97 0:fc0c4a184482 32 class Wheelchair
ryanlin97 0:fc0c4a184482 33 {
ryanlin97 0:fc0c4a184482 34 public:
ryanlin97 12:921488918749 35 /** Create Wheelchair Object with x,y pin for analog dc output
ryanlin97 12:921488918749 36 * serial for printout, and timer
ryanlin97 12:921488918749 37 */
jvfausto 24:d2f234fbc20d 38 Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* wheel, QEI* wheelS);
ryanlin97 12:921488918749 39
ryanlin97 12:921488918749 40 /** move using the joystick */
ryanlin97 3:a5e71bfdb492 41 void move(float x_coor, float y_coor);
ryanlin97 12:921488918749 42
ryanlin97 12:921488918749 43 /* turn right a certain amount of degrees using PID*/
ryanlin97 12:921488918749 44 void pid_right(int deg);
ryanlin97 12:921488918749 45
ryanlin97 12:921488918749 46 /* turn left a certain amount of degrees using PID*/
ryanlin97 12:921488918749 47 void pid_left(int deg);
ryanlin97 12:921488918749 48
ryanlin97 12:921488918749 49 /* drive the wheelchair forward */
ryanlin97 1:c0beadca1617 50 void forward();
ryanlin97 12:921488918749 51
ryanlin97 12:921488918749 52 /* drive the wheelchair backward*/
ryanlin97 1:c0beadca1617 53 void backward();
ryanlin97 12:921488918749 54
ryanlin97 12:921488918749 55 /* turn the wheelchair right*/
ryanlin97 1:c0beadca1617 56 void right();
ryanlin97 12:921488918749 57
ryanlin97 12:921488918749 58 /* turn the wheelchair left*/
ryanlin97 1:c0beadca1617 59 void left();
ryanlin97 12:921488918749 60
ryanlin97 12:921488918749 61 /* stop the wheelchair*/
ryanlin97 1:c0beadca1617 62 void stop();
ryanlin97 12:921488918749 63
ryanlin97 12:921488918749 64 /* function to get imu data*/
ryanlin97 11:d14a1f7f1297 65 void compass_thread();
jvfausto 24:d2f234fbc20d 66 void velosity_thread();
jvfausto 23:8d11d953ceeb 67
jvfausto 23:8d11d953ceeb 68 /* move x millimiters foward using PID*/
jvfausto 19:71a6621ee5c3 69 void pid_forward(double mm);
jvfausto 23:8d11d953ceeb 70
jvfausto 23:8d11d953ceeb 71 /* move x millimiters reverse using PID*/
jvfausto 17:7f3b69300bb6 72 void pid_reverse(double mm);
jvfausto 23:8d11d953ceeb 73
jvfausto 23:8d11d953ceeb 74 /* gets the encoder distance moved since encoder reset*/
ryanlin97 12:921488918749 75 float getDistance();
jvfausto 23:8d11d953ceeb 76
jvfausto 23:8d11d953ceeb 77 /* resets encoder*/
ryanlin97 12:921488918749 78 void resetDistance();
jvfausto 23:8d11d953ceeb 79
jvfausto 23:8d11d953ceeb 80 /* function to to determine whether we are turning left or right*/
ryanlin97 12:921488918749 81 void pid_turn(int deg);
jvfausto 23:8d11d953ceeb 82
jvfausto 24:d2f234fbc20d 83 void pid_twistA();
jvfausto 24:d2f234fbc20d 84 void pid_twistV();
jvfausto 25:58ec657a44f2 85
jvfausto 25:58ec657a44f2 86 void odomMsg();
jvfausto 25:58ec657a44f2 87 void showOdom();
jvfausto 25:58ec657a44f2 88
jvfausto 23:8d11d953ceeb 89 /* functions with a predetermined path demmo*/
jvfausto 19:71a6621ee5c3 90 void desk();
jvfausto 19:71a6621ee5c3 91 void kitchen();
jvfausto 19:71a6621ee5c3 92 void desk_to_kitchen();
jvfausto 25:58ec657a44f2 93
ryanlin97 1:c0beadca1617 94 private:
jvfausto 23:8d11d953ceeb 95 /* Pointers for the joystick speed*/
ryanlin97 3:a5e71bfdb492 96 PwmOut* x;
ryanlin97 3:a5e71bfdb492 97 PwmOut* y;
jvfausto 23:8d11d953ceeb 98
jvfausto 23:8d11d953ceeb 99 chair_BNO055* imu; // Pointer to IMU
jvfausto 23:8d11d953ceeb 100 Serial* out; // Pointer to Serial Monitor
jvfausto 23:8d11d953ceeb 101 Timer* ti; // Pointer to the timer
jvfausto 23:8d11d953ceeb 102 QEI* wheel; // Pointer to encoder
jvfausto 24:d2f234fbc20d 103 QEI* wheelS; // Pointer to encoder
ryanlin97 0:fc0c4a184482 104 };
ryanlin97 0:fc0c4a184482 105 #endif