Diff: wheelchair.cpp

Revision:

27:0b1a837f123c

Parent:

26:662693bd7f31

Child:

28:6b2610acca97

diff -r 662693bd7f31 -r 0b1a837f123c wheelchair.cpp
--- a/wheelchair.cpp	Thu Jun 27 16:32:12 2019 +0000
+++ b/wheelchair.cpp	Thu Jun 27 18:08:29 2019 +0000
@@ -12,6 +12,8 @@
 
 double dist_old, curr_pos;                                                             // Variables for odometry position
 
+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
@@ -35,6 +37,25 @@
     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];