Updated with emergency button and watchdog code
Dependencies: QEI2 chair_BNO055 PID VL53L1X_Filter
Dependents: wheelchairControlSumer2019
Diff: wheelchair.cpp
- Revision:
- 28:6b2610acca97
- Parent:
- 27:0b1a837f123c
- Child:
- 29:052247c0f0e0
diff -r 0b1a837f123c -r 6b2610acca97 wheelchair.cpp --- a/wheelchair.cpp Thu Jun 27 18:08:29 2019 +0000 +++ b/wheelchair.cpp Thu Jun 27 21:45:58 2019 +0000 @@ -12,8 +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 +//DigitalOut signal(D5); // Output to send "STOP" signal to wheelchair +DigitalIn button(PD_0, PullUp); // 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 @@ -39,13 +39,11 @@ void Wheelchair::emergencyButton_thread () { while(1) { - signal = 0; + //signal = 0; while(!button) { //Send something to stop wheelchair - signal = 1; - - printf("Hello there!\n"); + //signal = 1; printf("I'm dead\n\n\n"); //Reset Board