Affordable Smart Wheelchair / wheelchaircontrol4

Updated with emergency button and watchdog code

Dependencies:   QEI2 chair_BNO055 PID VL53L1X_Filter

Dependents:   wheelchairControlSumer2019

wheelchair.cpp@30:a6659c5a8109, 2019-06-28 (annotated)

Committer:
t1jain
Date:
Fri Jun 28 17:00:27 2019 +0000
Revision:
30:a6659c5a8109
Parent:
29:052247c0f0e0 
Cleaned up code

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];
t1jain 30:a6659c5a8109 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];
t1jain 30:a6659c5a8109 68
jvfausto 26:662693bd7f31 69 //out->printf("%d, %d\r\n", sensor1, sensor4);
jvfausto 26:662693bd7f31 70 /*if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor1 < curr_vel*curr_vel*1000*1000 ||
jvfausto 26:662693bd7f31 71 2 * maxDecelerationSlow*sensor4 < curr_vel*curr_vel*1000*1000) &&
jvfausto 26:662693bd7f31 72 (sensor1 < 1500 || sensor4 < 1500)) ||
jvfausto 26:662693bd7f31 73 550 > sensor1 || 550 > sensor4)
jvfausto 26:662693bd7f31 74 {
jvfausto 26:662693bd7f31 75 //out->printf("i am in danger\r\n");
jvfausto 26:662693bd7f31 76 if(x->read() > def)
jvfausto 26:662693bd7f31 77 {
jvfausto 26:662693bd7f31 78 x->write(def);
jvfausto 26:662693bd7f31 79 forwardSafety = 1;
jvfausto 26:662693bd7f31 80 }
jvfausto 26:662693bd7f31 81 }
jvfausto 26:662693bd7f31 82 else if(curr_vel > 1 &&((2 * maxDecelerationFast*sensor1 < curr_vel*curr_vel*1000*1000 ||
jvfausto 26:662693bd7f31 83 2 * maxDecelerationFast*sensor4 < curr_vel*curr_vel*1000*1000) &&
jvfausto 21:3489cffad196 84 (sensor1 < 1500 || sensor4 < 1500)) ||
jvfausto 21:3489cffad196 85 550 > sensor1 || 550 > sensor4)
jvfausto 21:3489cffad196 86 {
jvfausto 21:3489cffad196 87 //out->printf("i am in danger\r\n");
jvfausto 21:3489cffad196 88 if(x->read() > def)
jvfausto 21:3489cffad196 89 {
jvfausto 21:3489cffad196 90 x->write(def);
jvfausto 21:3489cffad196 91 forwardSafety = 1;
jvfausto 21:3489cffad196 92 }
jvfausto 21:3489cffad196 93 }
jvfausto 21:3489cffad196 94 else
jvfausto 21:3489cffad196 95 forwardSafety = 0;
jvfausto 26:662693bd7f31 96 }
jvfausto 26:662693bd7f31 97 */
jvfausto 21:3489cffad196 98 }
ryanlin97 6:0cd57bdd8fbc 99
jvfausto 21:3489cffad196 100 /* Constructor for Wheelchair class */
jvfausto 21:3489cffad196 101 Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS,
jvfausto 21:3489cffad196 102 VL53L1X** ToFT)
jvfausto 21:3489cffad196 103 {
jvfausto 21:3489cffad196 104 x_position = 0;
jvfausto 21:3489cffad196 105 y_position = 0;
jvfausto 21:3489cffad196 106 forwardSafety = 0;
jvfausto 21:3489cffad196 107 /* Initializes X and Y variables to Pins */
jvfausto 21:3489cffad196 108 x = new PwmOut(xPin);
jvfausto 21:3489cffad196 109 y = new PwmOut(yPin);
jvfausto 21:3489cffad196 110 /* Initializes IMU Library */
jvfausto 26:662693bd7f31 111 out = pc; // "out" is called for serial monitor
jvfausto 26:662693bd7f31 112 out->printf("on\r\n");
jvfausto 21:3489cffad196 113 imu = new chair_BNO055(pc, time);
jvfausto 21:3489cffad196 114 Wheelchair::stop(); // Wheelchair is initially stationary
t1jain 30:a6659c5a8109 115 imu->setup(); // Turns on the IMU
jvfausto 21:3489cffad196 116 wheelS = qeiS; // "wheel" is called for encoder
jvfausto 21:3489cffad196 117 wheel = qei;
t1jain 30:a6659c5a8109 118 ToF = ToFT; // Passes pointer with addresses of ToF sensors
jvfausto 21:3489cffad196 119
t1jain 30:a6659c5a8109 120 for(int i = 0; i < 12; i++) // Initializes the ToF Sensors
jvfausto 21:3489cffad196 121 {
jvfausto 21:3489cffad196 122 (*(ToF+i))->initReading(0x31+((0x02)*i), 50000);
jvfausto 21:3489cffad196 123 }
jvfausto 21:3489cffad196 124
t1jain 30:a6659c5a8109 125 out->printf("wheelchair setup done \r\n"); // Make sure its initialized; prints in serial monitor
jvfausto 21:3489cffad196 126 ti = time;
jvfausto 21:3489cffad196 127
jvfausto 21:3489cffad196 128
jvfausto 21:3489cffad196 129 myPID.SetMode(AUTOMATIC); // PID mode: Automatic
jvfausto 21:3489cffad196 130 }
jvfausto 21:3489cffad196 131
jvfausto 21:3489cffad196 132 /* Move wheelchair with joystick on manual mode */
jvfausto 21:3489cffad196 133 void Wheelchair::move(float x_coor, float y_coor)
jvfausto 21:3489cffad196 134 {
jvfausto 21:3489cffad196 135 /* Scales one joystick measurement to the chair's joystick measurement */
ryanlin97 4:29a27953fe70 136 float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
ryanlin97 4:29a27953fe70 137 float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
jvfausto 21:3489cffad196 138
jvfausto 21:3489cffad196 139 /* Sends the scaled joystic values to the chair */
jvfausto 21:3489cffad196 140 x->write(scaled_x);
ryanlin97 4:29a27953fe70 141 y->write(scaled_y);
ryanlin97 5:e0ccaab3959a 142 }
jvfausto 21:3489cffad196 143
jvfausto 21:3489cffad196 144 /* Automatic mode: move forward and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 145 void Wheelchair::forward()
ryanlin97 1:c0beadca1617 146 {
jvfausto 26:662693bd7f31 147 //printf("current velosity; %f, curr vel S %f\r\n", curr_vel, curr_velS);
jvfausto 21:3489cffad196 148 if(forwardSafety == 0)
jvfausto 21:3489cffad196 149 {
ryanlin97 0:fc0c4a184482 150 x->write(high);
ryanlin97 3:a5e71bfdb492 151 y->write(def+offset);
jvfausto 21:3489cffad196 152 }
jvfausto 26:662693bd7f31 153 out->printf("%f, %f\r\n", curr_pos, wheelS->getDistance(53.975));
ryanlin97 0:fc0c4a184482 154 }
jvfausto 21:3489cffad196 155
jvfausto 21:3489cffad196 156 /* Automatic mode: move in reverse and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 157 void Wheelchair::backward()
ryanlin97 1:c0beadca1617 158 {
ryanlin97 0:fc0c4a184482 159 x->write(low);
ryanlin97 0:fc0c4a184482 160 y->write(def);
ryanlin97 0:fc0c4a184482 161 }
jvfausto 21:3489cffad196 162
jvfausto 21:3489cffad196 163 /* Automatic mode: move right and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 164 void Wheelchair::right()
ryanlin97 1:c0beadca1617 165 {
ryanlin97 0:fc0c4a184482 166 x->write(def);
ryanlin97 11:d14a1f7f1297 167 y->write(low);
ryanlin97 0:fc0c4a184482 168 }
ryanlin97 0:fc0c4a184482 169
jvfausto 21:3489cffad196 170 /* Automatic mode: move left and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 171 void Wheelchair::left()
ryanlin97 1:c0beadca1617 172 {
ryanlin97 0:fc0c4a184482 173 x->write(def);
ryanlin97 11:d14a1f7f1297 174 y->write(high);
ryanlin97 0:fc0c4a184482 175 }
jvfausto 21:3489cffad196 176
jvfausto 21:3489cffad196 177 /* Stop the wheelchair */
jvfausto 21:3489cffad196 178 void Wheelchair::stop()
ryanlin97 1:c0beadca1617 179 {
ryanlin97 0:fc0c4a184482 180 x->write(def);
ryanlin97 0:fc0c4a184482 181 y->write(def);
ryanlin97 6:0cd57bdd8fbc 182 }
jvfausto 21:3489cffad196 183
jvfausto 21:3489cffad196 184 /* Counter-clockwise is -
jvfausto 21:3489cffad196 185 * Clockwise is +
jvfausto 21:3489cffad196 186 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 187 * This constructor takes in an angle from user and adjusts for turning right
jvfausto 21:3489cffad196 188 */
jvfausto 21:3489cffad196 189 void Wheelchair::pid_right(int deg)
ryanlin97 12:921488918749 190 {
jvfausto 21:3489cffad196 191 bool overturn = false; //Boolean if angle over 360˚
ryanlin97 12:921488918749 192
jvfausto 21:3489cffad196 193 out->printf("pid right\r\r\n");
jvfausto 21:3489cffad196 194 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 195 Setpoint = curr_yaw + deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 196 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 197
jvfausto 21:3489cffad196 198 /* Turns on overturn boolean if setpoint over 360˚ */
jvfausto 21:3489cffad196 199 if(Setpoint > 360)
jvfausto 21:3489cffad196 200 {
ryanlin97 12:921488918749 201 overturn = true;
ryanlin97 12:921488918749 202 }
jvfausto 21:3489cffad196 203
jvfausto 21:3489cffad196 204 myPID.SetTunings(5.5,0, 0.0035); // Sets the constants for P and D
jvfausto 21:3489cffad196 205 myPID.SetOutputLimits(0, def-low-.15); // Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 206 myPID.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 207
jvfausto 21:3489cffad196 208 /* PID stops when approaching a litte less than desired angle */
jvfausto 21:3489cffad196 209 while(pid_yaw < Setpoint - 3)
jvfausto 21:3489cffad196 210 {
jvfausto 21:3489cffad196 211 /* PID is set to correct angle range if angle greater than 360˚*/
jvfausto 17:7f3b69300bb6 212 if(overturn && curr_yaw < Setpoint-deg-1)
jvfausto 17:7f3b69300bb6 213 {
jvfausto 21:3489cffad196 214 pid_yaw = curr_yaw + 360;
jvfausto 21:3489cffad196 215 }
jvfausto 21:3489cffad196 216 else
jvfausto 21:3489cffad196 217 {
jvfausto 17:7f3b69300bb6 218 pid_yaw = curr_yaw;
ryanlin97 12:921488918749 219 }
jvfausto 21:3489cffad196 220
jvfausto 21:3489cffad196 221 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 222 double tempor = -Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 223 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 224
jvfausto 21:3489cffad196 225 /* Prints to serial monitor the current angle and setpoint */
jvfausto 21:3489cffad196 226 out->printf("curr_yaw %f\r\r\n", curr_yaw);
jvfausto 21:3489cffad196 227 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 228
jvfausto 21:3489cffad196 229 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 230 }
jvfausto 21:3489cffad196 231
jvfausto 21:3489cffad196 232 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 233 Wheelchair::stop();
jvfausto 21:3489cffad196 234 out->printf("done \r\n");
jvfausto 21:3489cffad196 235 }
jvfausto 21:3489cffad196 236
jvfausto 21:3489cffad196 237 /* Counter-clockwise is -
jvfausto 21:3489cffad196 238 * Clockwise is +
jvfausto 21:3489cffad196 239 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 240 * This constructor takes in an angle from user and adjusts for turning left
jvfausto 21:3489cffad196 241 */
jvfausto 21:3489cffad196 242 void Wheelchair::pid_left(int deg)
ryanlin97 12:921488918749 243 {
jvfausto 21:3489cffad196 244 bool overturn = false; //Boolean if angle under 0˚
ryanlin97 12:921488918749 245
jvfausto 21:3489cffad196 246 out->printf("pid Left\r\r\n");
jvfausto 21:3489cffad196 247 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 248 Setpoint = curr_yaw - deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 249 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 250
jvfausto 21:3489cffad196 251 /* Turns on overturn boolean if setpoint less than 0˚ */
jvfausto 21:3489cffad196 252 if(Setpoint < 0)
jvfausto 21:3489cffad196 253 {
ryanlin97 12:921488918749 254 overturn = true;
ryanlin97 12:921488918749 255 }
jvfausto 21:3489cffad196 256
jvfausto 21:3489cffad196 257 myPID.SetTunings(5,0, 0.004); // Sets the constants for P and D
t1jain 30:a6659c5a8109 258 myPID.SetOutputLimits(0,high-def-.12); // Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 259 myPID.SetControllerDirection(REVERSE); // PID mode: Reverse
jvfausto 21:3489cffad196 260
jvfausto 21:3489cffad196 261 /* PID stops when approaching a litte more than desired angle */
jvfausto 21:3489cffad196 262 while(pid_yaw > Setpoint+3)
jvfausto 21:3489cffad196 263 {
jvfausto 21:3489cffad196 264 /* PID is set to correct angle range if angle less than 0˚ */
jvfausto 21:3489cffad196 265 if(overturn && curr_yaw > Setpoint+deg+1)
jvfausto 17:7f3b69300bb6 266 {
jvfausto 17:7f3b69300bb6 267 pid_yaw = curr_yaw - 360;
jvfausto 21:3489cffad196 268 }
jvfausto 21:3489cffad196 269 else
jvfausto 21:3489cffad196 270 {
jvfausto 21:3489cffad196 271 pid_yaw = curr_yaw;
jvfausto 21:3489cffad196 272 }
jvfausto 21:3489cffad196 273
jvfausto 21:3489cffad196 274 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 275 double tempor = Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 276 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 277
jvfausto 21:3489cffad196 278 /* Prints to serial monitor the current angle and setpoint */
jvfausto 17:7f3b69300bb6 279 out->printf("curr_yaw %f\r\n", curr_yaw);
jvfausto 21:3489cffad196 280 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 281
jvfausto 21:3489cffad196 282 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 283 }
jvfausto 21:3489cffad196 284
jvfausto 21:3489cffad196 285 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 286 Wheelchair::stop();
jvfausto 21:3489cffad196 287 out->printf("done \r\n");
ryanlin97 12:921488918749 288
jvfausto 21:3489cffad196 289 }
jvfausto 21:3489cffad196 290
jvfausto 21:3489cffad196 291 /* This constructor determines whether to turn left or right */
jvfausto 21:3489cffad196 292 void Wheelchair::pid_turn(int deg)
jvfausto 21:3489cffad196 293 {
jvfausto 21:3489cffad196 294
jvfausto 21:3489cffad196 295 /* Sets angle to coterminal angle for left turn if deg > 180
jvfausto 21:3489cffad196 296 * Sets angle to coterminal angle for right turn if deg < -180
jvfausto 21:3489cffad196 297 */
jvfausto 21:3489cffad196 298 if(deg > 180)
jvfausto 21:3489cffad196 299 {
ryanlin97 12:921488918749 300 deg -= 360;
ryanlin97 12:921488918749 301 }
jvfausto 21:3489cffad196 302 else if(deg < -180)
jvfausto 21:3489cffad196 303 {
jvfausto 21:3489cffad196 304 deg +=360;
ryanlin97 12:921488918749 305 }
ryanlin97 12:921488918749 306
jvfausto 21:3489cffad196 307 /* Makes sure angle inputted to function is positive */
ryanlin97 12:921488918749 308 int turnAmt = abs(deg);
jvfausto 21:3489cffad196 309
jvfausto 21:3489cffad196 310 /* Calls PID_right if deg > 0, else calls PID_left if deg < 0 */
jvfausto 21:3489cffad196 311 if(deg >= 0)
jvfausto 21:3489cffad196 312 {
jvfausto 21:3489cffad196 313 Wheelchair::pid_right(turnAmt);
jvfausto 21:3489cffad196 314 }
jvfausto 21:3489cffad196 315 else
jvfausto 21:3489cffad196 316 {
jvfausto 21:3489cffad196 317 Wheelchair::pid_left(turnAmt);
jvfausto 21:3489cffad196 318 }
ryanlin97 12:921488918749 319
jvfausto 21:3489cffad196 320 }
jvfausto 21:3489cffad196 321
jvfausto 21:3489cffad196 322 /* This constructor takes in distance to travel and adjust to move forward */
jvfausto 19:71a6621ee5c3 323 void Wheelchair::pid_forward(double mm)
jvfausto 17:7f3b69300bb6 324 {
jvfausto 21:3489cffad196 325 mm -= 20; // Makes sure distance does not overshoot
jvfausto 21:3489cffad196 326 Input = 0; // Initializes input to zero: Test latter w/o
jvfausto 21:3489cffad196 327 wheel->reset(); // Resets encoders so that they start at 0
jvfausto 21:3489cffad196 328
jvfausto 17:7f3b69300bb6 329 out->printf("pid foward\r\n");
jvfausto 21:3489cffad196 330
jvfausto 21:3489cffad196 331 double tempor; // Initializes Temporary variable for x input
jvfausto 21:3489cffad196 332 Setpoint = mm; // Initializes the setpoint to desired value
jvfausto 21:3489cffad196 333
jvfausto 21:3489cffad196 334 myPIDDistance.SetTunings(5.5,0, 0.0015); // Sets constants for P and D
jvfausto 21:3489cffad196 335 myPIDDistance.SetOutputLimits(0,high-def-.15); // Limit set to difference between high and def
jvfausto 21:3489cffad196 336 myPIDDistance.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 337
jvfausto 21:3489cffad196 338 y->write(def+offset); // Update y to make chair stationary
jvfausto 21:3489cffad196 339
jvfausto 21:3489cffad196 340 /* Chair stops moving when Setpoint is reached */
jvfausto 21:3489cffad196 341 while(Input < Setpoint){
jvfausto 21:3489cffad196 342
jvfausto 21:3489cffad196 343 if(out->readable()) // Emergency Break
jvfausto 21:3489cffad196 344 {
jvfausto 21:3489cffad196 345 break;
jvfausto 21:3489cffad196 346 }
jvfausto 17:7f3b69300bb6 347
jvfausto 21:3489cffad196 348 Input = wheel->getDistance(53.975); // Gets distance from Encoder into PID
jvfausto 21:3489cffad196 349 wait(.05); // Slight Delay: *****Test without
jvfausto 21:3489cffad196 350 myPIDDistance.Compute(); // Compute distance traveled by chair
jvfausto 21:3489cffad196 351
jvfausto 21:3489cffad196 352 tempor = Output + def; // Temporary output variable
jvfausto 21:3489cffad196 353 x->write(tempor); // Update x sent to chair
jvfausto 17:7f3b69300bb6 354
jvfausto 21:3489cffad196 355 /* Prints to serial monitor the distance traveled by chair */
jvfausto 19:71a6621ee5c3 356 out->printf("distance %f\r\n", Input);
jvfausto 17:7f3b69300bb6 357 }
ryanlin97 12:921488918749 358
jvfausto 17:7f3b69300bb6 359 }
jvfausto 21:3489cffad196 360
jvfausto 21:3489cffad196 361 /* This constructor returns the relative angular position of chair */
jvfausto 21:3489cffad196 362 double Wheelchair::getTwistZ()
jvfausto 17:7f3b69300bb6 363 {
jvfausto 21:3489cffad196 364 return imu->gyro_z();
jvfausto 21:3489cffad196 365 }
jvfausto 18:663b6d693252 366
jvfausto 21:3489cffad196 367 /* This constructor computes the relative angle for Twist message in ROS */
jvfausto 21:3489cffad196 368 void Wheelchair::pid_twistA()
jvfausto 21:3489cffad196 369 {
jvfausto 21:3489cffad196 370 /* Initialize variables for angle and update x,y sent to chair */
jvfausto 21:3489cffad196 371 char c;
jvfausto 21:3489cffad196 372 double temporA = def;
jvfausto 21:3489cffad196 373 y->write(def);
jvfausto 21:3489cffad196 374 x->write(def);
jvfausto 21:3489cffad196 375
jvfausto 21:3489cffad196 376 PIDAngularV.SetTunings(.00015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 377 PIDAngularV.SetOutputLimits(-.1, .1); // Limit set to be in range specified
jvfausto 21:3489cffad196 378 PIDAngularV.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 379
jvfausto 21:3489cffad196 380 /* Computes angular position of wheelchair while turning */
jvfausto 21:3489cffad196 381 while(1)
jvfausto 21:3489cffad196 382 {
jvfausto 21:3489cffad196 383 yDesired = angularV;
jvfausto 21:3489cffad196 384
jvfausto 21:3489cffad196 385 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 386 * if the desired angle is zero
jvfausto 21:3489cffad196 387 */
jvfausto 21:3489cffad196 388 if(yDesired == 0)
jvfausto 18:663b6d693252 389 {
jvfausto 21:3489cffad196 390 x->write(def);
jvfausto 21:3489cffad196 391 y->write(def);
jvfausto 21:3489cffad196 392 yDesired = 0;
ryanlin97 8:381a4ec3fef8 393 return;
ryanlin97 7:5e38d43fbce3 394 }
jvfausto 21:3489cffad196 395
jvfausto 21:3489cffad196 396 /* Continuously updates with current angle measured by IMU */
jvfausto 21:3489cffad196 397 yIn = imu->gyro_z();
jvfausto 21:3489cffad196 398 PIDAngularV.Compute();
jvfausto 21:3489cffad196 399 temporA += yOut; // Temporary value with the voltage output
jvfausto 21:3489cffad196 400 y->write(temporA); // Update y sent to chair
jvfausto 21:3489cffad196 401
jvfausto 21:3489cffad196 402 //out->printf("temporA: %f, yDesired %f, angle: %f\r\n", temporA, yDesired, imu->gyro_z());
jvfausto 21:3489cffad196 403 wait(.05); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 404 }
jvfausto 21:3489cffad196 405
jvfausto 21:3489cffad196 406 }
ryanlin97 6:0cd57bdd8fbc 407
jvfausto 21:3489cffad196 408 /* This constructor computes the relative velocity for Twist message in ROS */
jvfausto 21:3489cffad196 409 void Wheelchair::pid_twistV()
ryanlin97 6:0cd57bdd8fbc 410 {
jvfausto 21:3489cffad196 411 /* Initializes variables as default */
jvfausto 21:3489cffad196 412 double temporV = def;
jvfausto 26:662693bd7f31 413 double temporS = def+offset;
jvfausto 21:3489cffad196 414 vDesiredS = 0;
jvfausto 21:3489cffad196 415 x->write(def);
jvfausto 21:3489cffad196 416 y->write(def);
jvfausto 21:3489cffad196 417 wheel->reset(); // Resets the encoders
jvfausto 21:3489cffad196 418 /* Sets the constants for P and D */
jvfausto 21:3489cffad196 419 PIDVelosity.SetTunings(.0005,0, 0.00);
jvfausto 26:662693bd7f31 420 PIDSlaveV.SetTunings(.005,0.000001, 0.000001);
jvfausto 21:3489cffad196 421
jvfausto 21:3489cffad196 422 /* Limits to the range specified */
jvfausto 21:3489cffad196 423 PIDVelosity.SetOutputLimits(-.005, .005);
jvfausto 21:3489cffad196 424 PIDSlaveV.SetOutputLimits(-.002, .002);
jvfausto 21:3489cffad196 425
jvfausto 21:3489cffad196 426 /* PID mode: Direct */
jvfausto 21:3489cffad196 427 PIDVelosity.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 428 PIDSlaveV.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 429
jvfausto 21:3489cffad196 430 while(1)
jvfausto 21:3489cffad196 431 {
jvfausto 21:3489cffad196 432 linearV = .7;
jvfausto 21:3489cffad196 433 test1 = linearV*100;
jvfausto 21:3489cffad196 434 vel = curr_vel;
jvfausto 21:3489cffad196 435 vDesired = linearV*100;
jvfausto 21:3489cffad196 436 if(out->readable())
jvfausto 21:3489cffad196 437 return;
jvfausto 21:3489cffad196 438 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 439 * if the velocity is zero
jvfausto 21:3489cffad196 440 */
jvfausto 21:3489cffad196 441 if(linearV == 0)
jvfausto 21:3489cffad196 442 {
jvfausto 21:3489cffad196 443 x->write(def);
jvfausto 21:3489cffad196 444 y->write(def);
ryanlin97 8:381a4ec3fef8 445
jvfausto 21:3489cffad196 446 vel = 0;
jvfausto 21:3489cffad196 447 vDesired = 0;
jvfausto 21:3489cffad196 448 dist_old = 0;
ryanlin97 8:381a4ec3fef8 449 return;
ryanlin97 8:381a4ec3fef8 450 }
jvfausto 21:3489cffad196 451
jvfausto 21:3489cffad196 452 if(vDesired >= 0)
jvfausto 21:3489cffad196 453 {
jvfausto 21:3489cffad196 454 PIDVelosity.SetTunings(.000004,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 455 PIDVelosity.SetOutputLimits(-.002, .002); // Limits to the range specified
jvfausto 21:3489cffad196 456 }
jvfausto 21:3489cffad196 457 else
jvfausto 21:3489cffad196 458 {
jvfausto 21:3489cffad196 459 PIDVelosity.SetTunings(.000015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 460 PIDVelosity.SetOutputLimits(-.0005, .0005); // Limits to range specified
jvfausto 21:3489cffad196 461 }
jvfausto 21:3489cffad196 462
jvfausto 21:3489cffad196 463 /* Sets maximum value of variable to 1 */
jvfausto 21:3489cffad196 464 if(temporV >= 1.5)
jvfausto 21:3489cffad196 465 {
jvfausto 21:3489cffad196 466 temporV = 1.5;
ryanlin97 8:381a4ec3fef8 467 }
jvfausto 21:3489cffad196 468 /* Scales and makes some adjustments to velocity */
jvfausto 21:3489cffad196 469 vIn = curr_vel*100;
jvfausto 21:3489cffad196 470 vInS = curr_vel-curr_velS;
jvfausto 21:3489cffad196 471 PIDVelosity.Compute();
jvfausto 21:3489cffad196 472 PIDSlaveV.Compute();
jvfausto 21:3489cffad196 473 if(forwardSafety == 0)
jvfausto 21:3489cffad196 474 {
jvfausto 21:3489cffad196 475 temporV += vOut;
jvfausto 21:3489cffad196 476 temporS += vOutS;
jvfausto 21:3489cffad196 477
jvfausto 21:3489cffad196 478 /* Updates x,y sent to Wheelchair and for Odometry message in ROS */
jvfausto 21:3489cffad196 479 x->write(temporV);
jvfausto 21:3489cffad196 480 test2 = temporV;
jvfausto 21:3489cffad196 481 y->write(temporS);
jvfausto 21:3489cffad196 482 }
jvfausto 21:3489cffad196 483 else
jvfausto 21:3489cffad196 484 {
jvfausto 21:3489cffad196 485 x->write(def);
jvfausto 21:3489cffad196 486 y->write(def);
jvfausto 21:3489cffad196 487 }
jvfausto 21:3489cffad196 488 //out->printf("Velosity: %f, Velosity2: %f, temporV %f, temporS %f\r\n", curr_vel, curr_velS, temporV, temporS);
jvfausto 21:3489cffad196 489 Wheelchair::odomMsg();
jvfausto 21:3489cffad196 490 wait(.01); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 491 }
ryanlin97 11:d14a1f7f1297 492 }
ryanlin97 11:d14a1f7f1297 493
jvfausto 21:3489cffad196 494 /* This constructor calculates the relative position of the chair everytime the encoders reset
jvfausto 21:3489cffad196 495 * by setting its old position as the origin to calculate the new position
jvfausto 21:3489cffad196 496 */
jvfausto 21:3489cffad196 497 void Wheelchair::odomMsg()
ryanlin97 11:d14a1f7f1297 498 {
jvfausto 21:3489cffad196 499 double dist_new = curr_pos;
jvfausto 21:3489cffad196 500 double dist = dist_new-dist_old;
jvfausto 21:3489cffad196 501 double temp_x = dist*sin(z_angular*3.14159/180);
jvfausto 21:3489cffad196 502 double temp_y = dist*cos(z_angular*3.14159/180);
jvfausto 21:3489cffad196 503
jvfausto 21:3489cffad196 504 x_position += temp_x;
jvfausto 21:3489cffad196 505 y_position += temp_y;
ryanlin97 11:d14a1f7f1297 506
jvfausto 21:3489cffad196 507 dist_old = dist_new;
jvfausto 21:3489cffad196 508 }
jvfausto 21:3489cffad196 509
jvfausto 21:3489cffad196 510 /* This constructor prints the Odometry message to the serial monitor */
jvfausto 21:3489cffad196 511 void Wheelchair::showOdom()
jvfausto 21:3489cffad196 512 {
jvfausto 21:3489cffad196 513 out->printf("x %f, y %f, angle %f", x_position, y_position, z_angular);
jvfausto 21:3489cffad196 514 }
jvfausto 21:3489cffad196 515
jvfausto 21:3489cffad196 516 /* This constructor returns the approximate distance based on the wheel diameter */
jvfausto 21:3489cffad196 517 float Wheelchair::getDistance()
jvfausto 21:3489cffad196 518 {
jvfausto 21:3489cffad196 519 return wheel->getDistance(Diameter);
ryanlin97 6:0cd57bdd8fbc 520 }
ryanlin97 8:381a4ec3fef8 521
jvfausto 21:3489cffad196 522 /* This constructor resets the wheel encoder's */
jvfausto 21:3489cffad196 523 void Wheelchair::resetDistance()
jvfausto 21:3489cffad196 524 {
ryanlin97 12:921488918749 525 wheel->reset();
jvfausto 21:3489cffad196 526 }
jvfausto 21:3489cffad196 527
jvfausto 21:3489cffad196 528
jvfausto 21:3489cffad196 529 /*Predetermined paths For Demmo*/
jvfausto 21:3489cffad196 530 void Wheelchair::desk()
jvfausto 21:3489cffad196 531 {
jvfausto 19:71a6621ee5c3 532 Wheelchair::pid_forward(5461);
jvfausto 19:71a6621ee5c3 533 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 534 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 535 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 536 Wheelchair::pid_forward(3658);
jvfausto 21:3489cffad196 537 }
jvfausto 21:3489cffad196 538
jvfausto 21:3489cffad196 539 void Wheelchair::kitchen()
jvfausto 21:3489cffad196 540 {
jvfausto 19:71a6621ee5c3 541 Wheelchair::pid_forward(5461);
jvfausto 20:f42db4ae16f0 542 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 543 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 544 Wheelchair::pid_left(90);
jvfausto 19:71a6621ee5c3 545 Wheelchair::pid_forward(305);
jvfausto 21:3489cffad196 546 }
jvfausto 21:3489cffad196 547
jvfausto 21:3489cffad196 548 void Wheelchair::desk_to_kitchen()
jvfausto 21:3489cffad196 549 {
jvfausto 19:71a6621ee5c3 550 Wheelchair::pid_right(180);
jvfausto 19:71a6621ee5c3 551 Wheelchair::pid_forward(3700);
jvfausto 21:3489cffad196 552 }