Affordable Smart Wheelchair / wheelchaircontrol2

Revised for integration

Dependencies:   QEI2 chair_BNO055 PID VL53L1X_Filter

wheelchair.cpp@26:e06e67411fc9, 2019-06-26 (annotated)

Committer:
t1jain
Date:
Wed Jun 26 18:20:11 2019 +0000
Revision:
26:e06e67411fc9
Parent:
21:3489cffad196 
Revised for integration

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jvfausto 21:3489cffad196 1
ryanlin97 0:fc0c4a184482 2 #include "wheelchair.h"
jvfausto 21:3489cffad196 3
jvfausto 21:3489cffad196 4 bool manual_drive = false; // Variable changes between joystick and auto drive
jvfausto 21:3489cffad196 5 double encoder_distance; // Keeps distanse due to original position
jvfausto 21:3489cffad196 6
jvfausto 21:3489cffad196 7 volatile double Setpoint, Output, Input, Input2; // Variables for PID
jvfausto 21:3489cffad196 8 volatile double pid_yaw, Distance, Setpoint2, Output2, encoder_distance2; // Variables for PID
jvfausto 21:3489cffad196 9 volatile double vIn, vOut, vDesired; // Variables for PID Velosity
jvfausto 21:3489cffad196 10 volatile double vInS, vOutS, vDesiredS; // Variables for PID Slave Wheel
jvfausto 21:3489cffad196 11 volatile double yIn, yOut, yDesired; // Variables for PID turn velosity
ryanlin97 11:d14a1f7f1297 12
jvfausto 21:3489cffad196 13 double dist_old, curr_pos; // Variables for odometry position
jvfausto 19:71a6621ee5c3 14
t1jain 26:e06e67411fc9 15 DigitalOut signal(D5);
t1jain 26:e06e67411fc9 16 DigitalIn button(D4, PullDown);
jvfausto 21:3489cffad196 17
jvfausto 21:3489cffad196 18 PID myPID(&pid_yaw, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT); // Angle PID object constructor
jvfausto 21:3489cffad196 19 PID myPIDDistance(&Input, &Output, &Setpoint, 5.5, .00, 0.002, P_ON_E, DIRECT); // Distance PID object constructor
jvfausto 21:3489cffad196 20 PID PIDVelosity(&vIn, &vOut, &vDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Velosity PID Constructor
jvfausto 21:3489cffad196 21 PID PIDSlaveV(&vInS, &vOutS, &vDesiredS, 5.5, .00, .002, P_ON_E, DIRECT); // Slave Velosity PID Constructor
jvfausto 21:3489cffad196 22 PID PIDAngularV(&yIn, &yOut, &yDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Angular Velosity PID Constructor
jvfausto 21:3489cffad196 23
jvfausto 19:71a6621ee5c3 24
jvfausto 21:3489cffad196 25 /* Thread measures current angular position */
jvfausto 21:3489cffad196 26 void Wheelchair::compass_thread()
jvfausto 21:3489cffad196 27 {
ryanlin97 11:d14a1f7f1297 28 curr_yaw = imu->yaw();
jvfausto 21:3489cffad196 29 z_angular = curr_yaw;
jvfausto 21:3489cffad196 30 }
jvfausto 17:7f3b69300bb6 31
jvfausto 21:3489cffad196 32 /* Thread measures velocity of wheels and distance traveled */
jvfausto 21:3489cffad196 33 void Wheelchair::velocity_thread()
ryanlin97 1:c0beadca1617 34 {
jvfausto 21:3489cffad196 35 curr_vel = wheel->getVelocity();
jvfausto 21:3489cffad196 36 curr_velS = wheelS->getVelocity();
jvfausto 21:3489cffad196 37 curr_pos = wheel->getDistance(53.975);
ryanlin97 1:c0beadca1617 38 }
ryanlin97 6:0cd57bdd8fbc 39
t1jain 26:e06e67411fc9 40 void Wheelchair::emergencyButton_thread () {
t1jain 26:e06e67411fc9 41 while(1) {
t1jain 26:e06e67411fc9 42 signal = 0;
t1jain 26:e06e67411fc9 43 while(!button) {
t1jain 26:e06e67411fc9 44
t1jain 26:e06e67411fc9 45 //Send something to stop wheelchair
t1jain 26:e06e67411fc9 46 signal = 1;
t1jain 26:e06e67411fc9 47
t1jain 26:e06e67411fc9 48 printf("Hello there!\n");
t1jain 26:e06e67411fc9 49 printf("I'm dead\n\n\n");
t1jain 26:e06e67411fc9 50
t1jain 26:e06e67411fc9 51 //Reset Board
t1jain 26:e06e67411fc9 52 NVIC_SystemReset();
t1jain 26:e06e67411fc9 53
t1jain 26:e06e67411fc9 54 }
t1jain 26:e06e67411fc9 55
t1jain 26:e06e67411fc9 56 }
t1jain 26:e06e67411fc9 57 }
t1jain 26:e06e67411fc9 58
t1jain 26:e06e67411fc9 59
jvfausto 21:3489cffad196 60 void Wheelchair::assistSafe_thread()
ryanlin97 1:c0beadca1617 61 {
jvfausto 21:3489cffad196 62 int ToFV[12];
jvfausto 21:3489cffad196 63 for(int i = 0; i < 9; i++) // reads from the ToF Sensors
jvfausto 21:3489cffad196 64 {
jvfausto 21:3489cffad196 65 ToFV[i] = (*(ToF+i))->readFromOneSensor();
jvfausto 21:3489cffad196 66 //out->printf("%d ", ToFV[i]);
jvfausto 21:3489cffad196 67 }
jvfausto 21:3489cffad196 68 out->printf("\r\n");
jvfausto 21:3489cffad196 69 int sensor1 = ToFV[2];
jvfausto 21:3489cffad196 70 int sensor4 = ToFV[5];
jvfausto 21:3489cffad196 71 out->printf("%d, %d\r\n", sensor1, sensor4);
jvfausto 21:3489cffad196 72 if(((2 * maxDeceleration*sensor1 < curr_vel*curr_vel*1000*1000 ||
jvfausto 21:3489cffad196 73 2 * maxDeceleration*sensor4 < curr_vel*curr_vel*1000*1000) &&
jvfausto 21:3489cffad196 74 (sensor1 < 1500 || sensor4 < 1500)) ||
jvfausto 21:3489cffad196 75 550 > sensor1 || 550 > sensor4)
jvfausto 21:3489cffad196 76 {
jvfausto 21:3489cffad196 77 //out->printf("i am in danger\r\n");
jvfausto 21:3489cffad196 78 if(x->read() > def)
jvfausto 21:3489cffad196 79 {
jvfausto 21:3489cffad196 80 x->write(def);
jvfausto 21:3489cffad196 81 forwardSafety = 1;
jvfausto 21:3489cffad196 82 }
jvfausto 21:3489cffad196 83 }
jvfausto 21:3489cffad196 84 else
jvfausto 21:3489cffad196 85 forwardSafety = 0;
jvfausto 21:3489cffad196 86
jvfausto 21:3489cffad196 87 }
ryanlin97 6:0cd57bdd8fbc 88
jvfausto 21:3489cffad196 89 /* Constructor for Wheelchair class */
jvfausto 21:3489cffad196 90 Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS,
jvfausto 21:3489cffad196 91 VL53L1X** ToFT)
jvfausto 21:3489cffad196 92 {
jvfausto 21:3489cffad196 93 x_position = 0;
jvfausto 21:3489cffad196 94 y_position = 0;
jvfausto 21:3489cffad196 95 forwardSafety = 0;
jvfausto 21:3489cffad196 96 /* Initializes X and Y variables to Pins */
jvfausto 21:3489cffad196 97 x = new PwmOut(xPin);
jvfausto 21:3489cffad196 98 y = new PwmOut(yPin);
jvfausto 21:3489cffad196 99 /* Initializes IMU Library */
jvfausto 21:3489cffad196 100 imu = new chair_BNO055(pc, time);
jvfausto 21:3489cffad196 101 Wheelchair::stop(); // Wheelchair is initially stationary
jvfausto 21:3489cffad196 102 imu->setup(); // turns on the IMU
jvfausto 21:3489cffad196 103 out = pc; // "out" is called for serial monitor
jvfausto 21:3489cffad196 104 wheelS = qeiS; // "wheel" is called for encoder
jvfausto 21:3489cffad196 105 wheel = qei;
jvfausto 21:3489cffad196 106 ToF = ToFT; // passes pointer with addresses of ToF sensors
jvfausto 21:3489cffad196 107
jvfausto 21:3489cffad196 108 for(int i = 0; i < 12; i++) // initializes the ToF Sensors
jvfausto 21:3489cffad196 109 {
jvfausto 21:3489cffad196 110 (*(ToF+i))->initReading(0x31+((0x02)*i), 50000);
jvfausto 21:3489cffad196 111 }
jvfausto 21:3489cffad196 112
jvfausto 21:3489cffad196 113 out->printf("wheelchair setup done \r\n"); // Make sure it initialized; prints in serial monitor
jvfausto 21:3489cffad196 114 ti = time;
jvfausto 21:3489cffad196 115
jvfausto 21:3489cffad196 116
jvfausto 21:3489cffad196 117 myPID.SetMode(AUTOMATIC); // PID mode: Automatic
jvfausto 21:3489cffad196 118 }
jvfausto 21:3489cffad196 119
jvfausto 21:3489cffad196 120 /* Move wheelchair with joystick on manual mode */
jvfausto 21:3489cffad196 121 void Wheelchair::move(float x_coor, float y_coor)
jvfausto 21:3489cffad196 122 {
jvfausto 21:3489cffad196 123 /* Scales one joystick measurement to the chair's joystick measurement */
ryanlin97 4:29a27953fe70 124 float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
ryanlin97 4:29a27953fe70 125 float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
jvfausto 21:3489cffad196 126
jvfausto 21:3489cffad196 127 /* Sends the scaled joystic values to the chair */
jvfausto 21:3489cffad196 128 x->write(scaled_x);
ryanlin97 4:29a27953fe70 129 y->write(scaled_y);
ryanlin97 5:e0ccaab3959a 130 }
jvfausto 21:3489cffad196 131
jvfausto 21:3489cffad196 132 /* Automatic mode: move forward and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 133 void Wheelchair::forward()
ryanlin97 1:c0beadca1617 134 {
jvfausto 21:3489cffad196 135 if(forwardSafety == 0)
jvfausto 21:3489cffad196 136 {
ryanlin97 0:fc0c4a184482 137 x->write(high);
ryanlin97 3:a5e71bfdb492 138 y->write(def+offset);
jvfausto 21:3489cffad196 139 }
ryanlin97 0:fc0c4a184482 140 }
jvfausto 21:3489cffad196 141
jvfausto 21:3489cffad196 142 /* Automatic mode: move in reverse and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 143 void Wheelchair::backward()
ryanlin97 1:c0beadca1617 144 {
ryanlin97 0:fc0c4a184482 145 x->write(low);
ryanlin97 0:fc0c4a184482 146 y->write(def);
ryanlin97 0:fc0c4a184482 147 }
jvfausto 21:3489cffad196 148
jvfausto 21:3489cffad196 149 /* Automatic mode: move right and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 150 void Wheelchair::right()
ryanlin97 1:c0beadca1617 151 {
ryanlin97 0:fc0c4a184482 152 x->write(def);
ryanlin97 11:d14a1f7f1297 153 y->write(low);
ryanlin97 0:fc0c4a184482 154 }
ryanlin97 0:fc0c4a184482 155
jvfausto 21:3489cffad196 156 /* Automatic mode: move left and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 157 void Wheelchair::left()
ryanlin97 1:c0beadca1617 158 {
ryanlin97 0:fc0c4a184482 159 x->write(def);
ryanlin97 11:d14a1f7f1297 160 y->write(high);
ryanlin97 0:fc0c4a184482 161 }
jvfausto 21:3489cffad196 162
jvfausto 21:3489cffad196 163 /* Stop the wheelchair */
jvfausto 21:3489cffad196 164 void Wheelchair::stop()
ryanlin97 1:c0beadca1617 165 {
ryanlin97 0:fc0c4a184482 166 x->write(def);
ryanlin97 0:fc0c4a184482 167 y->write(def);
ryanlin97 6:0cd57bdd8fbc 168 }
jvfausto 21:3489cffad196 169
jvfausto 21:3489cffad196 170 /* Counter-clockwise is -
jvfausto 21:3489cffad196 171 * Clockwise is +
jvfausto 21:3489cffad196 172 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 173 * This constructor takes in an angle from user and adjusts for turning right
jvfausto 21:3489cffad196 174 */
jvfausto 21:3489cffad196 175 void Wheelchair::pid_right(int deg)
ryanlin97 12:921488918749 176 {
jvfausto 21:3489cffad196 177 bool overturn = false; //Boolean if angle over 360˚
ryanlin97 12:921488918749 178
jvfausto 21:3489cffad196 179 out->printf("pid right\r\r\n");
jvfausto 21:3489cffad196 180 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 181 Setpoint = curr_yaw + deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 182 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 183
jvfausto 21:3489cffad196 184 /* Turns on overturn boolean if setpoint over 360˚ */
jvfausto 21:3489cffad196 185 if(Setpoint > 360)
jvfausto 21:3489cffad196 186 {
ryanlin97 12:921488918749 187 overturn = true;
ryanlin97 12:921488918749 188 }
jvfausto 21:3489cffad196 189
jvfausto 21:3489cffad196 190 myPID.SetTunings(5.5,0, 0.0035); // Sets the constants for P and D
jvfausto 21:3489cffad196 191 myPID.SetOutputLimits(0, def-low-.15); // Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 192 myPID.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 193
jvfausto 21:3489cffad196 194 /* PID stops when approaching a litte less than desired angle */
jvfausto 21:3489cffad196 195 while(pid_yaw < Setpoint - 3)
jvfausto 21:3489cffad196 196 {
jvfausto 21:3489cffad196 197 /* PID is set to correct angle range if angle greater than 360˚*/
jvfausto 17:7f3b69300bb6 198 if(overturn && curr_yaw < Setpoint-deg-1)
jvfausto 17:7f3b69300bb6 199 {
jvfausto 21:3489cffad196 200 pid_yaw = curr_yaw + 360;
jvfausto 21:3489cffad196 201 }
jvfausto 21:3489cffad196 202 else
jvfausto 21:3489cffad196 203 {
jvfausto 17:7f3b69300bb6 204 pid_yaw = curr_yaw;
ryanlin97 12:921488918749 205 }
jvfausto 21:3489cffad196 206
jvfausto 21:3489cffad196 207 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 208 double tempor = -Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 209 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 210
jvfausto 21:3489cffad196 211 /* Prints to serial monitor the current angle and setpoint */
jvfausto 21:3489cffad196 212 out->printf("curr_yaw %f\r\r\n", curr_yaw);
jvfausto 21:3489cffad196 213 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 214
jvfausto 21:3489cffad196 215 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 216 }
jvfausto 21:3489cffad196 217
jvfausto 21:3489cffad196 218 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 219 Wheelchair::stop();
jvfausto 21:3489cffad196 220 out->printf("done \r\n");
jvfausto 21:3489cffad196 221 }
jvfausto 21:3489cffad196 222
jvfausto 21:3489cffad196 223 /* Counter-clockwise is -
jvfausto 21:3489cffad196 224 * Clockwise is +
jvfausto 21:3489cffad196 225 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 226 * This constructor takes in an angle from user and adjusts for turning left
jvfausto 21:3489cffad196 227 */
jvfausto 21:3489cffad196 228 void Wheelchair::pid_left(int deg)
ryanlin97 12:921488918749 229 {
jvfausto 21:3489cffad196 230 bool overturn = false; //Boolean if angle under 0˚
ryanlin97 12:921488918749 231
jvfausto 21:3489cffad196 232 out->printf("pid Left\r\r\n");
jvfausto 21:3489cffad196 233 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 234 Setpoint = curr_yaw - deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 235 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 236
jvfausto 21:3489cffad196 237 /* Turns on overturn boolean if setpoint less than 0˚ */
jvfausto 21:3489cffad196 238 if(Setpoint < 0)
jvfausto 21:3489cffad196 239 {
ryanlin97 12:921488918749 240 overturn = true;
ryanlin97 12:921488918749 241 }
jvfausto 21:3489cffad196 242
jvfausto 21:3489cffad196 243 myPID.SetTunings(5,0, 0.004); // Sets the constants for P and D
jvfausto 21:3489cffad196 244 myPID.SetOutputLimits(0,high-def-.12); //Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 245 myPID.SetControllerDirection(REVERSE); // PID mode: Reverse
jvfausto 21:3489cffad196 246
jvfausto 21:3489cffad196 247 /* PID stops when approaching a litte more than desired angle */
jvfausto 21:3489cffad196 248 while(pid_yaw > Setpoint+3)
jvfausto 21:3489cffad196 249 {
jvfausto 21:3489cffad196 250 /* PID is set to correct angle range if angle less than 0˚ */
jvfausto 21:3489cffad196 251 if(overturn && curr_yaw > Setpoint+deg+1)
jvfausto 17:7f3b69300bb6 252 {
jvfausto 17:7f3b69300bb6 253 pid_yaw = curr_yaw - 360;
jvfausto 21:3489cffad196 254 }
jvfausto 21:3489cffad196 255 else
jvfausto 21:3489cffad196 256 {
jvfausto 21:3489cffad196 257 pid_yaw = curr_yaw;
jvfausto 21:3489cffad196 258 }
jvfausto 21:3489cffad196 259
jvfausto 21:3489cffad196 260 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 261 double tempor = Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 262 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 263
jvfausto 21:3489cffad196 264 /* Prints to serial monitor the current angle and setpoint */
jvfausto 17:7f3b69300bb6 265 out->printf("curr_yaw %f\r\n", curr_yaw);
jvfausto 21:3489cffad196 266 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 267
jvfausto 21:3489cffad196 268 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 269 }
jvfausto 21:3489cffad196 270
jvfausto 21:3489cffad196 271 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 272 Wheelchair::stop();
jvfausto 21:3489cffad196 273 out->printf("done \r\n");
ryanlin97 12:921488918749 274
jvfausto 21:3489cffad196 275 }
jvfausto 21:3489cffad196 276
jvfausto 21:3489cffad196 277 /* This constructor determines whether to turn left or right */
jvfausto 21:3489cffad196 278 void Wheelchair::pid_turn(int deg)
jvfausto 21:3489cffad196 279 {
jvfausto 21:3489cffad196 280
jvfausto 21:3489cffad196 281 /* Sets angle to coterminal angle for left turn if deg > 180
jvfausto 21:3489cffad196 282 * Sets angle to coterminal angle for right turn if deg < -180
jvfausto 21:3489cffad196 283 */
jvfausto 21:3489cffad196 284 if(deg > 180)
jvfausto 21:3489cffad196 285 {
ryanlin97 12:921488918749 286 deg -= 360;
ryanlin97 12:921488918749 287 }
jvfausto 21:3489cffad196 288 else if(deg < -180)
jvfausto 21:3489cffad196 289 {
jvfausto 21:3489cffad196 290 deg +=360;
ryanlin97 12:921488918749 291 }
ryanlin97 12:921488918749 292
jvfausto 21:3489cffad196 293 /* Makes sure angle inputted to function is positive */
ryanlin97 12:921488918749 294 int turnAmt = abs(deg);
jvfausto 21:3489cffad196 295
jvfausto 21:3489cffad196 296 /* Calls PID_right if deg > 0, else calls PID_left if deg < 0 */
jvfausto 21:3489cffad196 297 if(deg >= 0)
jvfausto 21:3489cffad196 298 {
jvfausto 21:3489cffad196 299 Wheelchair::pid_right(turnAmt);
jvfausto 21:3489cffad196 300 }
jvfausto 21:3489cffad196 301 else
jvfausto 21:3489cffad196 302 {
jvfausto 21:3489cffad196 303 Wheelchair::pid_left(turnAmt);
jvfausto 21:3489cffad196 304 }
ryanlin97 12:921488918749 305
jvfausto 21:3489cffad196 306 }
jvfausto 21:3489cffad196 307
jvfausto 21:3489cffad196 308 /* This constructor takes in distance to travel and adjust to move forward */
jvfausto 19:71a6621ee5c3 309 void Wheelchair::pid_forward(double mm)
jvfausto 17:7f3b69300bb6 310 {
jvfausto 21:3489cffad196 311 mm -= 20; // Makes sure distance does not overshoot
jvfausto 21:3489cffad196 312 Input = 0; // Initializes input to zero: Test latter w/o
jvfausto 21:3489cffad196 313 wheel->reset(); // Resets encoders so that they start at 0
jvfausto 21:3489cffad196 314
jvfausto 17:7f3b69300bb6 315 out->printf("pid foward\r\n");
jvfausto 21:3489cffad196 316
jvfausto 21:3489cffad196 317 double tempor; // Initializes Temporary variable for x input
jvfausto 21:3489cffad196 318 Setpoint = mm; // Initializes the setpoint to desired value
jvfausto 21:3489cffad196 319
jvfausto 21:3489cffad196 320 myPIDDistance.SetTunings(5.5,0, 0.0015); // Sets constants for P and D
jvfausto 21:3489cffad196 321 myPIDDistance.SetOutputLimits(0,high-def-.15); // Limit set to difference between high and def
jvfausto 21:3489cffad196 322 myPIDDistance.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 323
jvfausto 21:3489cffad196 324 y->write(def+offset); // Update y to make chair stationary
jvfausto 21:3489cffad196 325
jvfausto 21:3489cffad196 326 /* Chair stops moving when Setpoint is reached */
jvfausto 21:3489cffad196 327 while(Input < Setpoint){
jvfausto 21:3489cffad196 328
jvfausto 21:3489cffad196 329 if(out->readable()) // Emergency Break
jvfausto 21:3489cffad196 330 {
jvfausto 21:3489cffad196 331 break;
jvfausto 21:3489cffad196 332 }
jvfausto 17:7f3b69300bb6 333
jvfausto 21:3489cffad196 334 Input = wheel->getDistance(53.975); // Gets distance from Encoder into PID
jvfausto 21:3489cffad196 335 wait(.05); // Slight Delay: *****Test without
jvfausto 21:3489cffad196 336 myPIDDistance.Compute(); // Compute distance traveled by chair
jvfausto 21:3489cffad196 337
jvfausto 21:3489cffad196 338 tempor = Output + def; // Temporary output variable
jvfausto 21:3489cffad196 339 x->write(tempor); // Update x sent to chair
jvfausto 17:7f3b69300bb6 340
jvfausto 21:3489cffad196 341 /* Prints to serial monitor the distance traveled by chair */
jvfausto 19:71a6621ee5c3 342 out->printf("distance %f\r\n", Input);
jvfausto 17:7f3b69300bb6 343 }
ryanlin97 12:921488918749 344
jvfausto 17:7f3b69300bb6 345 }
jvfausto 21:3489cffad196 346
jvfausto 21:3489cffad196 347 /* This constructor returns the relative angular position of chair */
jvfausto 21:3489cffad196 348 double Wheelchair::getTwistZ()
jvfausto 17:7f3b69300bb6 349 {
jvfausto 21:3489cffad196 350 return imu->gyro_z();
jvfausto 21:3489cffad196 351 }
jvfausto 18:663b6d693252 352
jvfausto 21:3489cffad196 353 /* This constructor computes the relative angle for Twist message in ROS */
jvfausto 21:3489cffad196 354 void Wheelchair::pid_twistA()
jvfausto 21:3489cffad196 355 {
jvfausto 21:3489cffad196 356 /* Initialize variables for angle and update x,y sent to chair */
jvfausto 21:3489cffad196 357 char c;
jvfausto 21:3489cffad196 358 double temporA = def;
jvfausto 21:3489cffad196 359 y->write(def);
jvfausto 21:3489cffad196 360 x->write(def);
jvfausto 21:3489cffad196 361
jvfausto 21:3489cffad196 362 PIDAngularV.SetTunings(.00015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 363 PIDAngularV.SetOutputLimits(-.1, .1); // Limit set to be in range specified
jvfausto 21:3489cffad196 364 PIDAngularV.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 365
jvfausto 21:3489cffad196 366 /* Computes angular position of wheelchair while turning */
jvfausto 21:3489cffad196 367 while(1)
jvfausto 21:3489cffad196 368 {
jvfausto 21:3489cffad196 369 yDesired = angularV;
jvfausto 21:3489cffad196 370
jvfausto 21:3489cffad196 371 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 372 * if the desired angle is zero
jvfausto 21:3489cffad196 373 */
jvfausto 21:3489cffad196 374 if(yDesired == 0)
jvfausto 18:663b6d693252 375 {
jvfausto 21:3489cffad196 376 x->write(def);
jvfausto 21:3489cffad196 377 y->write(def);
jvfausto 21:3489cffad196 378 yDesired = 0;
ryanlin97 8:381a4ec3fef8 379 return;
ryanlin97 7:5e38d43fbce3 380 }
jvfausto 21:3489cffad196 381
jvfausto 21:3489cffad196 382 /* Continuously updates with current angle measured by IMU */
jvfausto 21:3489cffad196 383 yIn = imu->gyro_z();
jvfausto 21:3489cffad196 384 PIDAngularV.Compute();
jvfausto 21:3489cffad196 385 temporA += yOut; // Temporary value with the voltage output
jvfausto 21:3489cffad196 386 y->write(temporA); // Update y sent to chair
jvfausto 21:3489cffad196 387
jvfausto 21:3489cffad196 388 //out->printf("temporA: %f, yDesired %f, angle: %f\r\n", temporA, yDesired, imu->gyro_z());
jvfausto 21:3489cffad196 389 wait(.05); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 390 }
jvfausto 21:3489cffad196 391
jvfausto 21:3489cffad196 392 }
ryanlin97 6:0cd57bdd8fbc 393
jvfausto 21:3489cffad196 394 /* This constructor computes the relative velocity for Twist message in ROS */
jvfausto 21:3489cffad196 395 void Wheelchair::pid_twistV()
ryanlin97 6:0cd57bdd8fbc 396 {
jvfausto 21:3489cffad196 397 /* Initializes variables as default */
jvfausto 21:3489cffad196 398 double temporV = def;
jvfausto 21:3489cffad196 399 double temporS = def;
jvfausto 21:3489cffad196 400 vDesiredS = 0;
jvfausto 21:3489cffad196 401 x->write(def);
jvfausto 21:3489cffad196 402 y->write(def);
jvfausto 21:3489cffad196 403 wheel->reset(); // Resets the encoders
jvfausto 21:3489cffad196 404 /* Sets the constants for P and D */
jvfausto 21:3489cffad196 405 PIDVelosity.SetTunings(.0005,0, 0.00);
jvfausto 21:3489cffad196 406 PIDSlaveV.SetTunings(.01,0.000001, 0.000001);
jvfausto 21:3489cffad196 407
jvfausto 21:3489cffad196 408 /* Limits to the range specified */
jvfausto 21:3489cffad196 409 PIDVelosity.SetOutputLimits(-.005, .005);
jvfausto 21:3489cffad196 410 PIDSlaveV.SetOutputLimits(-.002, .002);
jvfausto 21:3489cffad196 411
jvfausto 21:3489cffad196 412 /* PID mode: Direct */
jvfausto 21:3489cffad196 413 PIDVelosity.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 414 PIDSlaveV.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 415
jvfausto 21:3489cffad196 416 while(1)
jvfausto 21:3489cffad196 417 {
jvfausto 21:3489cffad196 418 linearV = .7;
jvfausto 21:3489cffad196 419 test1 = linearV*100;
jvfausto 21:3489cffad196 420 vel = curr_vel;
jvfausto 21:3489cffad196 421 vDesired = linearV*100;
jvfausto 21:3489cffad196 422 if(out->readable())
jvfausto 21:3489cffad196 423 return;
jvfausto 21:3489cffad196 424 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 425 * if the velocity is zero
jvfausto 21:3489cffad196 426 */
jvfausto 21:3489cffad196 427 if(linearV == 0)
jvfausto 21:3489cffad196 428 {
jvfausto 21:3489cffad196 429 x->write(def);
jvfausto 21:3489cffad196 430 y->write(def);
ryanlin97 8:381a4ec3fef8 431
jvfausto 21:3489cffad196 432 vel = 0;
jvfausto 21:3489cffad196 433 vDesired = 0;
jvfausto 21:3489cffad196 434 dist_old = 0;
ryanlin97 8:381a4ec3fef8 435 return;
ryanlin97 8:381a4ec3fef8 436 }
jvfausto 21:3489cffad196 437
jvfausto 21:3489cffad196 438 if(vDesired >= 0)
jvfausto 21:3489cffad196 439 {
jvfausto 21:3489cffad196 440 PIDVelosity.SetTunings(.000004,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 441 PIDVelosity.SetOutputLimits(-.002, .002); // Limits to the range specified
jvfausto 21:3489cffad196 442 }
jvfausto 21:3489cffad196 443 else
jvfausto 21:3489cffad196 444 {
jvfausto 21:3489cffad196 445 PIDVelosity.SetTunings(.000015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 446 PIDVelosity.SetOutputLimits(-.0005, .0005); // Limits to range specified
jvfausto 21:3489cffad196 447 }
jvfausto 21:3489cffad196 448
jvfausto 21:3489cffad196 449 /* Sets maximum value of variable to 1 */
jvfausto 21:3489cffad196 450 if(temporV >= 1.5)
jvfausto 21:3489cffad196 451 {
jvfausto 21:3489cffad196 452 temporV = 1.5;
ryanlin97 8:381a4ec3fef8 453 }
jvfausto 21:3489cffad196 454 /* Scales and makes some adjustments to velocity */
jvfausto 21:3489cffad196 455 vIn = curr_vel*100;
jvfausto 21:3489cffad196 456 vInS = curr_vel-curr_velS;
jvfausto 21:3489cffad196 457 PIDVelosity.Compute();
jvfausto 21:3489cffad196 458 PIDSlaveV.Compute();
jvfausto 21:3489cffad196 459 if(forwardSafety == 0)
jvfausto 21:3489cffad196 460 {
jvfausto 21:3489cffad196 461 temporV += vOut;
jvfausto 21:3489cffad196 462 temporS += vOutS;
jvfausto 21:3489cffad196 463
jvfausto 21:3489cffad196 464 /* Updates x,y sent to Wheelchair and for Odometry message in ROS */
jvfausto 21:3489cffad196 465 x->write(temporV);
jvfausto 21:3489cffad196 466 test2 = temporV;
jvfausto 21:3489cffad196 467 y->write(temporS);
jvfausto 21:3489cffad196 468 }
jvfausto 21:3489cffad196 469 else
jvfausto 21:3489cffad196 470 {
jvfausto 21:3489cffad196 471 x->write(def);
jvfausto 21:3489cffad196 472 y->write(def);
jvfausto 21:3489cffad196 473 }
jvfausto 21:3489cffad196 474 //out->printf("Velosity: %f, Velosity2: %f, temporV %f, temporS %f\r\n", curr_vel, curr_velS, temporV, temporS);
jvfausto 21:3489cffad196 475 Wheelchair::odomMsg();
jvfausto 21:3489cffad196 476 wait(.01); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 477 }
ryanlin97 11:d14a1f7f1297 478 }
ryanlin97 11:d14a1f7f1297 479
jvfausto 21:3489cffad196 480 /* This constructor calculates the relative position of the chair everytime the encoders reset
jvfausto 21:3489cffad196 481 * by setting its old position as the origin to calculate the new position
jvfausto 21:3489cffad196 482 */
jvfausto 21:3489cffad196 483 void Wheelchair::odomMsg()
ryanlin97 11:d14a1f7f1297 484 {
jvfausto 21:3489cffad196 485 double dist_new = curr_pos;
jvfausto 21:3489cffad196 486 double dist = dist_new-dist_old;
jvfausto 21:3489cffad196 487 double temp_x = dist*sin(z_angular*3.14159/180);
jvfausto 21:3489cffad196 488 double temp_y = dist*cos(z_angular*3.14159/180);
jvfausto 21:3489cffad196 489
jvfausto 21:3489cffad196 490 x_position += temp_x;
jvfausto 21:3489cffad196 491 y_position += temp_y;
ryanlin97 11:d14a1f7f1297 492
jvfausto 21:3489cffad196 493 dist_old = dist_new;
jvfausto 21:3489cffad196 494 }
jvfausto 21:3489cffad196 495
jvfausto 21:3489cffad196 496 /* This constructor prints the Odometry message to the serial monitor */
jvfausto 21:3489cffad196 497 void Wheelchair::showOdom()
jvfausto 21:3489cffad196 498 {
jvfausto 21:3489cffad196 499 out->printf("x %f, y %f, angle %f", x_position, y_position, z_angular);
jvfausto 21:3489cffad196 500 }
jvfausto 21:3489cffad196 501
jvfausto 21:3489cffad196 502 /* This constructor returns the approximate distance based on the wheel diameter */
jvfausto 21:3489cffad196 503 float Wheelchair::getDistance()
jvfausto 21:3489cffad196 504 {
jvfausto 21:3489cffad196 505 return wheel->getDistance(Diameter);
ryanlin97 6:0cd57bdd8fbc 506 }
ryanlin97 8:381a4ec3fef8 507
jvfausto 21:3489cffad196 508 /* This constructor resets the wheel encoder's */
jvfausto 21:3489cffad196 509 void Wheelchair::resetDistance()
jvfausto 21:3489cffad196 510 {
ryanlin97 12:921488918749 511 wheel->reset();
jvfausto 21:3489cffad196 512 }
jvfausto 21:3489cffad196 513
jvfausto 21:3489cffad196 514
jvfausto 21:3489cffad196 515 /*Predetermined paths For Demmo*/
jvfausto 21:3489cffad196 516 void Wheelchair::desk()
jvfausto 21:3489cffad196 517 {
jvfausto 19:71a6621ee5c3 518 Wheelchair::pid_forward(5461);
jvfausto 19:71a6621ee5c3 519 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 520 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 521 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 522 Wheelchair::pid_forward(3658);
jvfausto 21:3489cffad196 523 }
jvfausto 21:3489cffad196 524
jvfausto 21:3489cffad196 525 void Wheelchair::kitchen()
jvfausto 21:3489cffad196 526 {
jvfausto 19:71a6621ee5c3 527 Wheelchair::pid_forward(5461);
jvfausto 20:f42db4ae16f0 528 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 529 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 530 Wheelchair::pid_left(90);
jvfausto 19:71a6621ee5c3 531 Wheelchair::pid_forward(305);
jvfausto 21:3489cffad196 532 }
jvfausto 21:3489cffad196 533
jvfausto 21:3489cffad196 534 void Wheelchair::desk_to_kitchen()
jvfausto 21:3489cffad196 535 {
jvfausto 19:71a6621ee5c3 536 Wheelchair::pid_right(180);
jvfausto 19:71a6621ee5c3 537 Wheelchair::pid_forward(3700);
jvfausto 21:3489cffad196 538 }