Updated with emergency button and watchdog code
Dependencies: QEI2 chair_BNO055 PID VL53L1X_Filter
Dependents: wheelchairControlSumer2019
Diff: wheelchair.cpp
- Revision:
- 30:a6659c5a8109
- Parent:
- 29:052247c0f0e0
--- a/wheelchair.cpp Thu Jun 27 22:54:46 2019 +0000 +++ b/wheelchair.cpp Fri Jun 28 17:00:27 2019 +0000 @@ -57,7 +57,7 @@ void Wheelchair::assistSafe_thread() { int ToFV[12]; - for(int i = 0; i < 6; i++) // reads from the ToF Sensors + for(int i = 0; i < 6; i++) // Reads from the ToF Sensors { ToFV[i] = (*(ToF+i))->readFromOneSensor(); //out->printf("%d ", ToFV[i]); @@ -65,6 +65,7 @@ //out->printf("\r\n"); int sensor1 = ToFV[1]; int sensor4 = ToFV[5]; + //out->printf("%d, %d\r\n", sensor1, sensor4); /*if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor1 < curr_vel*curr_vel*1000*1000 || 2 * maxDecelerationSlow*sensor4 < curr_vel*curr_vel*1000*1000) && @@ -111,17 +112,17 @@ out->printf("on\r\n"); imu = new chair_BNO055(pc, time); Wheelchair::stop(); // Wheelchair is initially stationary - imu->setup(); // turns on the IMU + imu->setup(); // Turns on the IMU wheelS = qeiS; // "wheel" is called for encoder wheel = qei; - ToF = ToFT; // passes pointer with addresses of ToF sensors + 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); } - out->printf("wheelchair setup done \r\n"); // Make sure it initialized; prints in serial monitor + out->printf("wheelchair setup done \r\n"); // Make sure its initialized; prints in serial monitor ti = time; @@ -254,7 +255,7 @@ } 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 */