Affordable Smart Wheelchair / wheelchaircontrol4

Updated with emergency button and watchdog code

Dependencies:   QEI2 chair_BNO055 PID VL53L1X_Filter

Dependents:   wheelchairControlSumer2019

wheelchair.cpp@29:052247c0f0e0, 2019-06-27 (annotated)

Committer:
t1jain
Date:
Thu Jun 27 22:54:46 2019 +0000
Revision:
29:052247c0f0e0
Parent:
28:6b2610acca97
Child:
30:a6659c5a8109
Configured watchdog timeout;

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 29:052247c0f0e0 15 //DigitalOut signal(D5); // Output to send "STOP" signal to wheelchair
t1jain 28:6b2610acca97 16 DigitalIn button(PD_0, PullUp); // Emergency Stop button
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 27:0b1a837f123c 40 void Wheelchair::emergencyButton_thread () {
t1jain 27:0b1a837f123c 41 while(1) {
t1jain 28:6b2610acca97 42 //signal = 0;
t1jain 27:0b1a837f123c 43 while(!button) {
t1jain 27:0b1a837f123c 44
t1jain 27:0b1a837f123c 45 //Send something to stop wheelchair
t1jain 28:6b2610acca97 46 //signal = 1;
t1jain 27:0b1a837f123c 47 printf("I'm dead\n\n\n");
t1jain 27:0b1a837f123c 48
t1jain 27:0b1a837f123c 49 //Reset Board
t1jain 27:0b1a837f123c 50 NVIC_SystemReset();
t1jain 27:0b1a837f123c 51
t1jain 27:0b1a837f123c 52 }
t1jain 27:0b1a837f123c 53
t1jain 27:0b1a837f123c 54 }
t1jain 27:0b1a837f123c 55 }
t1jain 27:0b1a837f123c 56
jvfausto 21:3489cffad196 57 void Wheelchair::assistSafe_thread()
ryanlin97 1:c0beadca1617 58 {
jvfausto 21:3489cffad196 59 int ToFV[12];
jvfausto 26:662693bd7f31 60 for(int i = 0; i < 6; i++) // reads from the ToF Sensors
jvfausto 21:3489cffad196 61 {
jvfausto 21:3489cffad196 62 ToFV[i] = (*(ToF+i))->readFromOneSensor();
jvfausto 21:3489cffad196 63 //out->printf("%d ", ToFV[i]);
jvfausto 21:3489cffad196 64 }
jvfausto 26:662693bd7f31 65 //out->printf("\r\n");
jvfausto 26:662693bd7f31 66 int sensor1 = ToFV[1];
jvfausto 21:3489cffad196 67 int sensor4 = ToFV[5];
jvfausto 26:662693bd7f31 68 //out->printf("%d, %d\r\n", sensor1, sensor4);
jvfausto 26:662693bd7f31 69 /*if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor1 < curr_vel*curr_vel*1000*1000 ||
jvfausto 26:662693bd7f31 70 2 * maxDecelerationSlow*sensor4 < curr_vel*curr_vel*1000*1000) &&
jvfausto 26:662693bd7f31 71 (sensor1 < 1500 || sensor4 < 1500)) ||
jvfausto 26:662693bd7f31 72 550 > sensor1 || 550 > sensor4)
jvfausto 26:662693bd7f31 73 {
jvfausto 26:662693bd7f31 74 //out->printf("i am in danger\r\n");
jvfausto 26:662693bd7f31 75 if(x->read() > def)
jvfausto 26:662693bd7f31 76 {
jvfausto 26:662693bd7f31 77 x->write(def);
jvfausto 26:662693bd7f31 78 forwardSafety = 1;
jvfausto 26:662693bd7f31 79 }
jvfausto 26:662693bd7f31 80 }
jvfausto 26:662693bd7f31 81 else if(curr_vel > 1 &&((2 * maxDecelerationFast*sensor1 < curr_vel*curr_vel*1000*1000 ||
jvfausto 26:662693bd7f31 82 2 * maxDecelerationFast*sensor4 < curr_vel*curr_vel*1000*1000) &&
jvfausto 21:3489cffad196 83 (sensor1 < 1500 || sensor4 < 1500)) ||
jvfausto 21:3489cffad196 84 550 > sensor1 || 550 > sensor4)
jvfausto 21:3489cffad196 85 {
jvfausto 21:3489cffad196 86 //out->printf("i am in danger\r\n");
jvfausto 21:3489cffad196 87 if(x->read() > def)
jvfausto 21:3489cffad196 88 {
jvfausto 21:3489cffad196 89 x->write(def);
jvfausto 21:3489cffad196 90 forwardSafety = 1;
jvfausto 21:3489cffad196 91 }
jvfausto 21:3489cffad196 92 }
jvfausto 21:3489cffad196 93 else
jvfausto 21:3489cffad196 94 forwardSafety = 0;
jvfausto 26:662693bd7f31 95 }
jvfausto 26:662693bd7f31 96 */
jvfausto 21:3489cffad196 97 }
ryanlin97 6:0cd57bdd8fbc 98
jvfausto 21:3489cffad196 99 /* Constructor for Wheelchair class */
jvfausto 21:3489cffad196 100 Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS,
jvfausto 21:3489cffad196 101 VL53L1X** ToFT)
jvfausto 21:3489cffad196 102 {
jvfausto 21:3489cffad196 103 x_position = 0;
jvfausto 21:3489cffad196 104 y_position = 0;
jvfausto 21:3489cffad196 105 forwardSafety = 0;
jvfausto 21:3489cffad196 106 /* Initializes X and Y variables to Pins */
jvfausto 21:3489cffad196 107 x = new PwmOut(xPin);
jvfausto 21:3489cffad196 108 y = new PwmOut(yPin);
jvfausto 21:3489cffad196 109 /* Initializes IMU Library */
jvfausto 26:662693bd7f31 110 out = pc; // "out" is called for serial monitor
jvfausto 26:662693bd7f31 111 out->printf("on\r\n");
jvfausto 21:3489cffad196 112 imu = new chair_BNO055(pc, time);
jvfausto 21:3489cffad196 113 Wheelchair::stop(); // Wheelchair is initially stationary
jvfausto 21:3489cffad196 114 imu->setup(); // turns on the IMU
jvfausto 21:3489cffad196 115 wheelS = qeiS; // "wheel" is called for encoder
jvfausto 21:3489cffad196 116 wheel = qei;
jvfausto 21:3489cffad196 117 ToF = ToFT; // passes pointer with addresses of ToF sensors
jvfausto 21:3489cffad196 118
jvfausto 21:3489cffad196 119 for(int i = 0; i < 12; i++) // initializes the ToF Sensors
jvfausto 21:3489cffad196 120 {
jvfausto 21:3489cffad196 121 (*(ToF+i))->initReading(0x31+((0x02)*i), 50000);
jvfausto 21:3489cffad196 122 }
jvfausto 21:3489cffad196 123
jvfausto 21:3489cffad196 124 out->printf("wheelchair setup done \r\n"); // Make sure it initialized; prints in serial monitor
jvfausto 21:3489cffad196 125 ti = time;
jvfausto 21:3489cffad196 126
jvfausto 21:3489cffad196 127
jvfausto 21:3489cffad196 128 myPID.SetMode(AUTOMATIC); // PID mode: Automatic
jvfausto 21:3489cffad196 129 }
jvfausto 21:3489cffad196 130
jvfausto 21:3489cffad196 131 /* Move wheelchair with joystick on manual mode */
jvfausto 21:3489cffad196 132 void Wheelchair::move(float x_coor, float y_coor)
jvfausto 21:3489cffad196 133 {
jvfausto 21:3489cffad196 134 /* Scales one joystick measurement to the chair's joystick measurement */
ryanlin97 4:29a27953fe70 135 float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
ryanlin97 4:29a27953fe70 136 float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
jvfausto 21:3489cffad196 137
jvfausto 21:3489cffad196 138 /* Sends the scaled joystic values to the chair */
jvfausto 21:3489cffad196 139 x->write(scaled_x);
ryanlin97 4:29a27953fe70 140 y->write(scaled_y);
ryanlin97 5:e0ccaab3959a 141 }
jvfausto 21:3489cffad196 142
jvfausto 21:3489cffad196 143 /* Automatic mode: move forward and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 144 void Wheelchair::forward()
ryanlin97 1:c0beadca1617 145 {
jvfausto 26:662693bd7f31 146 //printf("current velosity; %f, curr vel S %f\r\n", curr_vel, curr_velS);
jvfausto 21:3489cffad196 147 if(forwardSafety == 0)
jvfausto 21:3489cffad196 148 {
ryanlin97 0:fc0c4a184482 149 x->write(high);
ryanlin97 3:a5e71bfdb492 150 y->write(def+offset);
jvfausto 21:3489cffad196 151 }
jvfausto 26:662693bd7f31 152 out->printf("%f, %f\r\n", curr_pos, wheelS->getDistance(53.975));
ryanlin97 0:fc0c4a184482 153 }
jvfausto 21:3489cffad196 154
jvfausto 21:3489cffad196 155 /* Automatic mode: move in reverse and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 156 void Wheelchair::backward()
ryanlin97 1:c0beadca1617 157 {
ryanlin97 0:fc0c4a184482 158 x->write(low);
ryanlin97 0:fc0c4a184482 159 y->write(def);
ryanlin97 0:fc0c4a184482 160 }
jvfausto 21:3489cffad196 161
jvfausto 21:3489cffad196 162 /* Automatic mode: move right and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 163 void Wheelchair::right()
ryanlin97 1:c0beadca1617 164 {
ryanlin97 0:fc0c4a184482 165 x->write(def);
ryanlin97 11:d14a1f7f1297 166 y->write(low);
ryanlin97 0:fc0c4a184482 167 }
ryanlin97 0:fc0c4a184482 168
jvfausto 21:3489cffad196 169 /* Automatic mode: move left and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 170 void Wheelchair::left()
ryanlin97 1:c0beadca1617 171 {
ryanlin97 0:fc0c4a184482 172 x->write(def);
ryanlin97 11:d14a1f7f1297 173 y->write(high);
ryanlin97 0:fc0c4a184482 174 }
jvfausto 21:3489cffad196 175
jvfausto 21:3489cffad196 176 /* Stop the wheelchair */
jvfausto 21:3489cffad196 177 void Wheelchair::stop()
ryanlin97 1:c0beadca1617 178 {
ryanlin97 0:fc0c4a184482 179 x->write(def);
ryanlin97 0:fc0c4a184482 180 y->write(def);
ryanlin97 6:0cd57bdd8fbc 181 }
jvfausto 21:3489cffad196 182
jvfausto 21:3489cffad196 183 /* Counter-clockwise is -
jvfausto 21:3489cffad196 184 * Clockwise is +
jvfausto 21:3489cffad196 185 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 186 * This constructor takes in an angle from user and adjusts for turning right
jvfausto 21:3489cffad196 187 */
jvfausto 21:3489cffad196 188 void Wheelchair::pid_right(int deg)
ryanlin97 12:921488918749 189 {
jvfausto 21:3489cffad196 190 bool overturn = false; //Boolean if angle over 360˚
ryanlin97 12:921488918749 191
jvfausto 21:3489cffad196 192 out->printf("pid right\r\r\n");
jvfausto 21:3489cffad196 193 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 194 Setpoint = curr_yaw + deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 195 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 196
jvfausto 21:3489cffad196 197 /* Turns on overturn boolean if setpoint over 360˚ */
jvfausto 21:3489cffad196 198 if(Setpoint > 360)
jvfausto 21:3489cffad196 199 {
ryanlin97 12:921488918749 200 overturn = true;
ryanlin97 12:921488918749 201 }
jvfausto 21:3489cffad196 202
jvfausto 21:3489cffad196 203 myPID.SetTunings(5.5,0, 0.0035); // Sets the constants for P and D
jvfausto 21:3489cffad196 204 myPID.SetOutputLimits(0, def-low-.15); // Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 205 myPID.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 206
jvfausto 21:3489cffad196 207 /* PID stops when approaching a litte less than desired angle */
jvfausto 21:3489cffad196 208 while(pid_yaw < Setpoint - 3)
jvfausto 21:3489cffad196 209 {
jvfausto 21:3489cffad196 210 /* PID is set to correct angle range if angle greater than 360˚*/
jvfausto 17:7f3b69300bb6 211 if(overturn && curr_yaw < Setpoint-deg-1)
jvfausto 17:7f3b69300bb6 212 {
jvfausto 21:3489cffad196 213 pid_yaw = curr_yaw + 360;
jvfausto 21:3489cffad196 214 }
jvfausto 21:3489cffad196 215 else
jvfausto 21:3489cffad196 216 {
jvfausto 17:7f3b69300bb6 217 pid_yaw = curr_yaw;
ryanlin97 12:921488918749 218 }
jvfausto 21:3489cffad196 219
jvfausto 21:3489cffad196 220 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 221 double tempor = -Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 222 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 223
jvfausto 21:3489cffad196 224 /* Prints to serial monitor the current angle and setpoint */
jvfausto 21:3489cffad196 225 out->printf("curr_yaw %f\r\r\n", curr_yaw);
jvfausto 21:3489cffad196 226 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 227
jvfausto 21:3489cffad196 228 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 229 }
jvfausto 21:3489cffad196 230
jvfausto 21:3489cffad196 231 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 232 Wheelchair::stop();
jvfausto 21:3489cffad196 233 out->printf("done \r\n");
jvfausto 21:3489cffad196 234 }
jvfausto 21:3489cffad196 235
jvfausto 21:3489cffad196 236 /* Counter-clockwise is -
jvfausto 21:3489cffad196 237 * Clockwise is +
jvfausto 21:3489cffad196 238 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 239 * This constructor takes in an angle from user and adjusts for turning left
jvfausto 21:3489cffad196 240 */
jvfausto 21:3489cffad196 241 void Wheelchair::pid_left(int deg)
ryanlin97 12:921488918749 242 {
jvfausto 21:3489cffad196 243 bool overturn = false; //Boolean if angle under 0˚
ryanlin97 12:921488918749 244
jvfausto 21:3489cffad196 245 out->printf("pid Left\r\r\n");
jvfausto 21:3489cffad196 246 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 247 Setpoint = curr_yaw - deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 248 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 249
jvfausto 21:3489cffad196 250 /* Turns on overturn boolean if setpoint less than 0˚ */
jvfausto 21:3489cffad196 251 if(Setpoint < 0)
jvfausto 21:3489cffad196 252 {
ryanlin97 12:921488918749 253 overturn = true;
ryanlin97 12:921488918749 254 }
jvfausto 21:3489cffad196 255
jvfausto 21:3489cffad196 256 myPID.SetTunings(5,0, 0.004); // Sets the constants for P and D
jvfausto 21:3489cffad196 257 myPID.SetOutputLimits(0,high-def-.12); //Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 258 myPID.SetControllerDirection(REVERSE); // PID mode: Reverse
jvfausto 21:3489cffad196 259
jvfausto 21:3489cffad196 260 /* PID stops when approaching a litte more than desired angle */
jvfausto 21:3489cffad196 261 while(pid_yaw > Setpoint+3)
jvfausto 21:3489cffad196 262 {
jvfausto 21:3489cffad196 263 /* PID is set to correct angle range if angle less than 0˚ */
jvfausto 21:3489cffad196 264 if(overturn && curr_yaw > Setpoint+deg+1)
jvfausto 17:7f3b69300bb6 265 {
jvfausto 17:7f3b69300bb6 266 pid_yaw = curr_yaw - 360;
jvfausto 21:3489cffad196 267 }
jvfausto 21:3489cffad196 268 else
jvfausto 21:3489cffad196 269 {
jvfausto 21:3489cffad196 270 pid_yaw = curr_yaw;
jvfausto 21:3489cffad196 271 }
jvfausto 21:3489cffad196 272
jvfausto 21:3489cffad196 273 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 274 double tempor = Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 275 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 276
jvfausto 21:3489cffad196 277 /* Prints to serial monitor the current angle and setpoint */
jvfausto 17:7f3b69300bb6 278 out->printf("curr_yaw %f\r\n", curr_yaw);
jvfausto 21:3489cffad196 279 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 280
jvfausto 21:3489cffad196 281 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 282 }
jvfausto 21:3489cffad196 283
jvfausto 21:3489cffad196 284 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 285 Wheelchair::stop();
jvfausto 21:3489cffad196 286 out->printf("done \r\n");
ryanlin97 12:921488918749 287
jvfausto 21:3489cffad196 288 }
jvfausto 21:3489cffad196 289
jvfausto 21:3489cffad196 290 /* This constructor determines whether to turn left or right */
jvfausto 21:3489cffad196 291 void Wheelchair::pid_turn(int deg)
jvfausto 21:3489cffad196 292 {
jvfausto 21:3489cffad196 293
jvfausto 21:3489cffad196 294 /* Sets angle to coterminal angle for left turn if deg > 180
jvfausto 21:3489cffad196 295 * Sets angle to coterminal angle for right turn if deg < -180
jvfausto 21:3489cffad196 296 */
jvfausto 21:3489cffad196 297 if(deg > 180)
jvfausto 21:3489cffad196 298 {
ryanlin97 12:921488918749 299 deg -= 360;
ryanlin97 12:921488918749 300 }
jvfausto 21:3489cffad196 301 else if(deg < -180)
jvfausto 21:3489cffad196 302 {
jvfausto 21:3489cffad196 303 deg +=360;
ryanlin97 12:921488918749 304 }
ryanlin97 12:921488918749 305
jvfausto 21:3489cffad196 306 /* Makes sure angle inputted to function is positive */
ryanlin97 12:921488918749 307 int turnAmt = abs(deg);
jvfausto 21:3489cffad196 308
jvfausto 21:3489cffad196 309 /* Calls PID_right if deg > 0, else calls PID_left if deg < 0 */
jvfausto 21:3489cffad196 310 if(deg >= 0)
jvfausto 21:3489cffad196 311 {
jvfausto 21:3489cffad196 312 Wheelchair::pid_right(turnAmt);
jvfausto 21:3489cffad196 313 }
jvfausto 21:3489cffad196 314 else
jvfausto 21:3489cffad196 315 {
jvfausto 21:3489cffad196 316 Wheelchair::pid_left(turnAmt);
jvfausto 21:3489cffad196 317 }
ryanlin97 12:921488918749 318
jvfausto 21:3489cffad196 319 }
jvfausto 21:3489cffad196 320
jvfausto 21:3489cffad196 321 /* This constructor takes in distance to travel and adjust to move forward */
jvfausto 19:71a6621ee5c3 322 void Wheelchair::pid_forward(double mm)
jvfausto 17:7f3b69300bb6 323 {
jvfausto 21:3489cffad196 324 mm -= 20; // Makes sure distance does not overshoot
jvfausto 21:3489cffad196 325 Input = 0; // Initializes input to zero: Test latter w/o
jvfausto 21:3489cffad196 326 wheel->reset(); // Resets encoders so that they start at 0
jvfausto 21:3489cffad196 327
jvfausto 17:7f3b69300bb6 328 out->printf("pid foward\r\n");
jvfausto 21:3489cffad196 329
jvfausto 21:3489cffad196 330 double tempor; // Initializes Temporary variable for x input
jvfausto 21:3489cffad196 331 Setpoint = mm; // Initializes the setpoint to desired value
jvfausto 21:3489cffad196 332
jvfausto 21:3489cffad196 333 myPIDDistance.SetTunings(5.5,0, 0.0015); // Sets constants for P and D
jvfausto 21:3489cffad196 334 myPIDDistance.SetOutputLimits(0,high-def-.15); // Limit set to difference between high and def
jvfausto 21:3489cffad196 335 myPIDDistance.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 336
jvfausto 21:3489cffad196 337 y->write(def+offset); // Update y to make chair stationary
jvfausto 21:3489cffad196 338
jvfausto 21:3489cffad196 339 /* Chair stops moving when Setpoint is reached */
jvfausto 21:3489cffad196 340 while(Input < Setpoint){
jvfausto 21:3489cffad196 341
jvfausto 21:3489cffad196 342 if(out->readable()) // Emergency Break
jvfausto 21:3489cffad196 343 {
jvfausto 21:3489cffad196 344 break;
jvfausto 21:3489cffad196 345 }
jvfausto 17:7f3b69300bb6 346
jvfausto 21:3489cffad196 347 Input = wheel->getDistance(53.975); // Gets distance from Encoder into PID
jvfausto 21:3489cffad196 348 wait(.05); // Slight Delay: *****Test without
jvfausto 21:3489cffad196 349 myPIDDistance.Compute(); // Compute distance traveled by chair
jvfausto 21:3489cffad196 350
jvfausto 21:3489cffad196 351 tempor = Output + def; // Temporary output variable
jvfausto 21:3489cffad196 352 x->write(tempor); // Update x sent to chair
jvfausto 17:7f3b69300bb6 353
jvfausto 21:3489cffad196 354 /* Prints to serial monitor the distance traveled by chair */
jvfausto 19:71a6621ee5c3 355 out->printf("distance %f\r\n", Input);
jvfausto 17:7f3b69300bb6 356 }
ryanlin97 12:921488918749 357
jvfausto 17:7f3b69300bb6 358 }
jvfausto 21:3489cffad196 359
jvfausto 21:3489cffad196 360 /* This constructor returns the relative angular position of chair */
jvfausto 21:3489cffad196 361 double Wheelchair::getTwistZ()
jvfausto 17:7f3b69300bb6 362 {
jvfausto 21:3489cffad196 363 return imu->gyro_z();
jvfausto 21:3489cffad196 364 }
jvfausto 18:663b6d693252 365
jvfausto 21:3489cffad196 366 /* This constructor computes the relative angle for Twist message in ROS */
jvfausto 21:3489cffad196 367 void Wheelchair::pid_twistA()
jvfausto 21:3489cffad196 368 {
jvfausto 21:3489cffad196 369 /* Initialize variables for angle and update x,y sent to chair */
jvfausto 21:3489cffad196 370 char c;
jvfausto 21:3489cffad196 371 double temporA = def;
jvfausto 21:3489cffad196 372 y->write(def);
jvfausto 21:3489cffad196 373 x->write(def);
jvfausto 21:3489cffad196 374
jvfausto 21:3489cffad196 375 PIDAngularV.SetTunings(.00015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 376 PIDAngularV.SetOutputLimits(-.1, .1); // Limit set to be in range specified
jvfausto 21:3489cffad196 377 PIDAngularV.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 378
jvfausto 21:3489cffad196 379 /* Computes angular position of wheelchair while turning */
jvfausto 21:3489cffad196 380 while(1)
jvfausto 21:3489cffad196 381 {
jvfausto 21:3489cffad196 382 yDesired = angularV;
jvfausto 21:3489cffad196 383
jvfausto 21:3489cffad196 384 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 385 * if the desired angle is zero
jvfausto 21:3489cffad196 386 */
jvfausto 21:3489cffad196 387 if(yDesired == 0)
jvfausto 18:663b6d693252 388 {
jvfausto 21:3489cffad196 389 x->write(def);
jvfausto 21:3489cffad196 390 y->write(def);
jvfausto 21:3489cffad196 391 yDesired = 0;
ryanlin97 8:381a4ec3fef8 392 return;
ryanlin97 7:5e38d43fbce3 393 }
jvfausto 21:3489cffad196 394
jvfausto 21:3489cffad196 395 /* Continuously updates with current angle measured by IMU */
jvfausto 21:3489cffad196 396 yIn = imu->gyro_z();
jvfausto 21:3489cffad196 397 PIDAngularV.Compute();
jvfausto 21:3489cffad196 398 temporA += yOut; // Temporary value with the voltage output
jvfausto 21:3489cffad196 399 y->write(temporA); // Update y sent to chair
jvfausto 21:3489cffad196 400
jvfausto 21:3489cffad196 401 //out->printf("temporA: %f, yDesired %f, angle: %f\r\n", temporA, yDesired, imu->gyro_z());
jvfausto 21:3489cffad196 402 wait(.05); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 403 }
jvfausto 21:3489cffad196 404
jvfausto 21:3489cffad196 405 }
ryanlin97 6:0cd57bdd8fbc 406
jvfausto 21:3489cffad196 407 /* This constructor computes the relative velocity for Twist message in ROS */
jvfausto 21:3489cffad196 408 void Wheelchair::pid_twistV()
ryanlin97 6:0cd57bdd8fbc 409 {
jvfausto 21:3489cffad196 410 /* Initializes variables as default */
jvfausto 21:3489cffad196 411 double temporV = def;
jvfausto 26:662693bd7f31 412 double temporS = def+offset;
jvfausto 21:3489cffad196 413 vDesiredS = 0;
jvfausto 21:3489cffad196 414 x->write(def);
jvfausto 21:3489cffad196 415 y->write(def);
jvfausto 21:3489cffad196 416 wheel->reset(); // Resets the encoders
jvfausto 21:3489cffad196 417 /* Sets the constants for P and D */
jvfausto 21:3489cffad196 418 PIDVelosity.SetTunings(.0005,0, 0.00);
jvfausto 26:662693bd7f31 419 PIDSlaveV.SetTunings(.005,0.000001, 0.000001);
jvfausto 21:3489cffad196 420
jvfausto 21:3489cffad196 421 /* Limits to the range specified */
jvfausto 21:3489cffad196 422 PIDVelosity.SetOutputLimits(-.005, .005);
jvfausto 21:3489cffad196 423 PIDSlaveV.SetOutputLimits(-.002, .002);
jvfausto 21:3489cffad196 424
jvfausto 21:3489cffad196 425 /* PID mode: Direct */
jvfausto 21:3489cffad196 426 PIDVelosity.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 427 PIDSlaveV.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 428
jvfausto 21:3489cffad196 429 while(1)
jvfausto 21:3489cffad196 430 {
jvfausto 21:3489cffad196 431 linearV = .7;
jvfausto 21:3489cffad196 432 test1 = linearV*100;
jvfausto 21:3489cffad196 433 vel = curr_vel;
jvfausto 21:3489cffad196 434 vDesired = linearV*100;
jvfausto 21:3489cffad196 435 if(out->readable())
jvfausto 21:3489cffad196 436 return;
jvfausto 21:3489cffad196 437 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 438 * if the velocity is zero
jvfausto 21:3489cffad196 439 */
jvfausto 21:3489cffad196 440 if(linearV == 0)
jvfausto 21:3489cffad196 441 {
jvfausto 21:3489cffad196 442 x->write(def);
jvfausto 21:3489cffad196 443 y->write(def);
ryanlin97 8:381a4ec3fef8 444
jvfausto 21:3489cffad196 445 vel = 0;
jvfausto 21:3489cffad196 446 vDesired = 0;
jvfausto 21:3489cffad196 447 dist_old = 0;
ryanlin97 8:381a4ec3fef8 448 return;
ryanlin97 8:381a4ec3fef8 449 }
jvfausto 21:3489cffad196 450
jvfausto 21:3489cffad196 451 if(vDesired >= 0)
jvfausto 21:3489cffad196 452 {
jvfausto 21:3489cffad196 453 PIDVelosity.SetTunings(.000004,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 454 PIDVelosity.SetOutputLimits(-.002, .002); // Limits to the range specified
jvfausto 21:3489cffad196 455 }
jvfausto 21:3489cffad196 456 else
jvfausto 21:3489cffad196 457 {
jvfausto 21:3489cffad196 458 PIDVelosity.SetTunings(.000015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 459 PIDVelosity.SetOutputLimits(-.0005, .0005); // Limits to range specified
jvfausto 21:3489cffad196 460 }
jvfausto 21:3489cffad196 461
jvfausto 21:3489cffad196 462 /* Sets maximum value of variable to 1 */
jvfausto 21:3489cffad196 463 if(temporV >= 1.5)
jvfausto 21:3489cffad196 464 {
jvfausto 21:3489cffad196 465 temporV = 1.5;
ryanlin97 8:381a4ec3fef8 466 }
jvfausto 21:3489cffad196 467 /* Scales and makes some adjustments to velocity */
jvfausto 21:3489cffad196 468 vIn = curr_vel*100;
jvfausto 21:3489cffad196 469 vInS = curr_vel-curr_velS;
jvfausto 21:3489cffad196 470 PIDVelosity.Compute();
jvfausto 21:3489cffad196 471 PIDSlaveV.Compute();
jvfausto 21:3489cffad196 472 if(forwardSafety == 0)
jvfausto 21:3489cffad196 473 {
jvfausto 21:3489cffad196 474 temporV += vOut;
jvfausto 21:3489cffad196 475 temporS += vOutS;
jvfausto 21:3489cffad196 476
jvfausto 21:3489cffad196 477 /* Updates x,y sent to Wheelchair and for Odometry message in ROS */
jvfausto 21:3489cffad196 478 x->write(temporV);
jvfausto 21:3489cffad196 479 test2 = temporV;
jvfausto 21:3489cffad196 480 y->write(temporS);
jvfausto 21:3489cffad196 481 }
jvfausto 21:3489cffad196 482 else
jvfausto 21:3489cffad196 483 {
jvfausto 21:3489cffad196 484 x->write(def);
jvfausto 21:3489cffad196 485 y->write(def);
jvfausto 21:3489cffad196 486 }
jvfausto 21:3489cffad196 487 //out->printf("Velosity: %f, Velosity2: %f, temporV %f, temporS %f\r\n", curr_vel, curr_velS, temporV, temporS);
jvfausto 21:3489cffad196 488 Wheelchair::odomMsg();
jvfausto 21:3489cffad196 489 wait(.01); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 490 }
ryanlin97 11:d14a1f7f1297 491 }
ryanlin97 11:d14a1f7f1297 492
jvfausto 21:3489cffad196 493 /* This constructor calculates the relative position of the chair everytime the encoders reset
jvfausto 21:3489cffad196 494 * by setting its old position as the origin to calculate the new position
jvfausto 21:3489cffad196 495 */
jvfausto 21:3489cffad196 496 void Wheelchair::odomMsg()
ryanlin97 11:d14a1f7f1297 497 {
jvfausto 21:3489cffad196 498 double dist_new = curr_pos;
jvfausto 21:3489cffad196 499 double dist = dist_new-dist_old;
jvfausto 21:3489cffad196 500 double temp_x = dist*sin(z_angular*3.14159/180);
jvfausto 21:3489cffad196 501 double temp_y = dist*cos(z_angular*3.14159/180);
jvfausto 21:3489cffad196 502
jvfausto 21:3489cffad196 503 x_position += temp_x;
jvfausto 21:3489cffad196 504 y_position += temp_y;
ryanlin97 11:d14a1f7f1297 505
jvfausto 21:3489cffad196 506 dist_old = dist_new;
jvfausto 21:3489cffad196 507 }
jvfausto 21:3489cffad196 508
jvfausto 21:3489cffad196 509 /* This constructor prints the Odometry message to the serial monitor */
jvfausto 21:3489cffad196 510 void Wheelchair::showOdom()
jvfausto 21:3489cffad196 511 {
jvfausto 21:3489cffad196 512 out->printf("x %f, y %f, angle %f", x_position, y_position, z_angular);
jvfausto 21:3489cffad196 513 }
jvfausto 21:3489cffad196 514
jvfausto 21:3489cffad196 515 /* This constructor returns the approximate distance based on the wheel diameter */
jvfausto 21:3489cffad196 516 float Wheelchair::getDistance()
jvfausto 21:3489cffad196 517 {
jvfausto 21:3489cffad196 518 return wheel->getDistance(Diameter);
ryanlin97 6:0cd57bdd8fbc 519 }
ryanlin97 8:381a4ec3fef8 520
jvfausto 21:3489cffad196 521 /* This constructor resets the wheel encoder's */
jvfausto 21:3489cffad196 522 void Wheelchair::resetDistance()
jvfausto 21:3489cffad196 523 {
ryanlin97 12:921488918749 524 wheel->reset();
jvfausto 21:3489cffad196 525 }
jvfausto 21:3489cffad196 526
jvfausto 21:3489cffad196 527
jvfausto 21:3489cffad196 528 /*Predetermined paths For Demmo*/
jvfausto 21:3489cffad196 529 void Wheelchair::desk()
jvfausto 21:3489cffad196 530 {
jvfausto 19:71a6621ee5c3 531 Wheelchair::pid_forward(5461);
jvfausto 19:71a6621ee5c3 532 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 533 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 534 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 535 Wheelchair::pid_forward(3658);
jvfausto 21:3489cffad196 536 }
jvfausto 21:3489cffad196 537
jvfausto 21:3489cffad196 538 void Wheelchair::kitchen()
jvfausto 21:3489cffad196 539 {
jvfausto 19:71a6621ee5c3 540 Wheelchair::pid_forward(5461);
jvfausto 20:f42db4ae16f0 541 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 542 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 543 Wheelchair::pid_left(90);
jvfausto 19:71a6621ee5c3 544 Wheelchair::pid_forward(305);
jvfausto 21:3489cffad196 545 }
jvfausto 21:3489cffad196 546
jvfausto 21:3489cffad196 547 void Wheelchair::desk_to_kitchen()
jvfausto 21:3489cffad196 548 {
jvfausto 19:71a6621ee5c3 549 Wheelchair::pid_right(180);
jvfausto 19:71a6621ee5c3 550 Wheelchair::pid_forward(3700);
jvfausto 21:3489cffad196 551 }