Diff: wheelchair.cpp

Revision:

27:d52b53419aeb

Parent:

26:e06e67411fc9

--- a/wheelchair.cpp	Wed Jun 26 18:20:11 2019 +0000
+++ b/wheelchair.cpp	Wed Jun 26 22:58:33 2019 +0000
@@ -12,8 +12,8 @@
 
 double dist_old, curr_pos;                                                             // Variables for odometry position
 
-DigitalOut signal(D5);
-DigitalIn button(D4, PullDown);
+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
@@ -60,7 +60,7 @@
 void Wheelchair::assistSafe_thread()
 {
     int ToFV[12];
-    for(int i = 0; i < 9; i++)                                              // reads from the ToF Sensors
+    for(int i = 0; i < 9; i++)                                                          // Reads from the ToF Sensors
     {
         ToFV[i] = (*(ToF+i))->readFromOneSensor();
         //out->printf("%d ", ToFV[i]);
@@ -105,7 +105,7 @@
     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);
     }
@@ -174,13 +174,14 @@
  */
 void Wheelchair::pid_right(int deg)
 {
-    bool overturn = false;                                                              //Boolean if angle over 360˚
+    bool overturn = false;                                                              // Boolean if angle over 360˚
     
     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) 
     {                                                               
@@ -227,7 +228,7 @@
  */
 void Wheelchair::pid_left(int deg)                                                      
 {
-    bool overturn = false;                                                              //Boolean if angle under 0˚
+    bool overturn = false;                                                              // Boolean if angle under 0˚
     
     out->printf("pid Left\r\r\n");                                                     
     x->write(def);                                                                      // Update x sent to chair to be stationary
@@ -241,7 +242,7 @@
     }
  
     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.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 */