Revision 30:a6659c5a8109, committed 2019-06-28

Comitter:

t1jain

Date:

Fri Jun 28 17:00:27 2019 +0000

Parent:

29:052247c0f0e0

Commit message:

Cleaned up code

Changed in this revision

--- 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 */

--- a/wheelchair.h	Thu Jun 27 22:54:46 2019 +0000
+++ b/wheelchair.h	Fri Jun 28 17:00:27 2019 +0000
@@ -14,19 +14,20 @@
 
 /*
 * Joystick has analog out of 200-700, scale values between 1.3 and 3.3
-*/             
-#define def (2.5f/3.3f)                 //Default axis on joystick to stay neutral; used on x and y axis
-#define high 3.3f/3.3f                  //High power on joystick; used on x and y axis
-#define low (1.7f/3.3f)                 //Low power on joystick; used on x and y axis
-#define offset .03f                    //Joystick adjustment to be able to go straight. Chair dependent on manufactoring precision
-#define process .1                      //Defines default time delay in seconds
+*/       
+      
+#define def (2.5f/3.3f)                 // Default axis on joystick to stay neutral; used on x and y axis
+#define high 3.3f/3.3f                  // High power on joystick; used on x and y axis
+#define low (1.7f/3.3f)                 // Low power on joystick; used on x and y axis
+#define offset .03f                     // Joystick adjustment to be able to go straight. Chair dependent on manufactoring precision
+#define process .1                      // Defines default time delay in seconds
 
 /* Pin plug in for Nucleo-L432KC */
-#define xDir PA_6                         //* PWM Pins */
+#define xDir PA_6                       // PWM Pins 
 #define yDir PA_5
-#define Encoder1 D7                     //*Digital In Pull Up Pin */
+#define Encoder1 D7                     // Digital In Pull Up Pin 
 #define Encoder2 D8
-#define Diameter 31.75                  //Diameter of encoder wheel
+#define Diameter 31.75                  // Diameter of encoder wheel
 #define maxDecelerationSlow 120
 #define maxDecelerationFast 30
 #define ToFSensorNum 12
@@ -115,7 +116,7 @@
     double vel;
     double test1, test2;  
     bool forwardSafety;
-    double curr_yaw, curr_velS;                                                            // Variable that contains current relative angle
+    double curr_yaw, curr_velS;         // Variable that contains current relative angle
 
     
 private: