Affordable Smart Wheelchair
/
wheelchaircontrol2
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Dependencies: QEI2 chair_BNO055 PID VL53L1X_Filter
Revision 26:e06e67411fc9, committed 2019-06-26
- Comitter:
- t1jain
- Date:
- Wed Jun 26 18:20:11 2019 +0000
- Parent:
- 22:fb99cce6b9b5
- Commit message:
- Revised for integration
Changed in this revision
--- a/ros_lib_kinetic.lib Fri Apr 19 23:06:53 2019 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://developer.mbed.org/users/garyservin/code/ros_lib_kinetic/#a849bf78d77f
--- a/wheelchair.cpp Fri Apr 19 23:06:53 2019 +0000
+++ b/wheelchair.cpp Wed Jun 26 18:20:11 2019 +0000
@@ -12,6 +12,8 @@
double dist_old, curr_pos; // Variables for odometry position
+DigitalOut signal(D5);
+DigitalIn button(D4, PullDown);
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
@@ -35,6 +37,26 @@
curr_pos = wheel->getDistance(53.975);
}
+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");
+
+ //Reset Board
+ NVIC_SystemReset();
+
+ }
+
+ }
+}
+
+
void Wheelchair::assistSafe_thread()
{
int ToFV[12];
--- a/wheelchair.h Fri Apr 19 23:06:53 2019 +0000
+++ b/wheelchair.h Wed Jun 26 18:20:11 2019 +0000
@@ -74,6 +74,8 @@
void velocity_thread();
void rosCom_thread();
void assistSafe_thread();
+
+ void emergencyButton_thread();
/* Move x millimiters foward using PID*/