Affordable Smart Wheelchair / wheelchaircontrol5

Updated with Statistics Library

Dependencies:   QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic

wheelchair.cpp@28:e01253eb6c6f, 2019-06-28 (annotated)

Committer:
t1jain
Date:
Fri Jun 28 23:52:23 2019 +0000
Revision:
28:e01253eb6c6f
Parent:
27:da718b990837 
Updated with Statistics Library

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
jvfausto 21:3489cffad196 15
jvfausto 21:3489cffad196 16 PID myPID(&pid_yaw, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT); // Angle PID object constructor
jvfausto 21:3489cffad196 17 PID myPIDDistance(&Input, &Output, &Setpoint, 5.5, .00, 0.002, P_ON_E, DIRECT); // Distance PID object constructor
jvfausto 21:3489cffad196 18 PID PIDVelosity(&vIn, &vOut, &vDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Velosity PID Constructor
jvfausto 21:3489cffad196 19 PID PIDSlaveV(&vInS, &vOutS, &vDesiredS, 5.5, .00, .002, P_ON_E, DIRECT); // Slave Velosity PID Constructor
jvfausto 21:3489cffad196 20 PID PIDAngularV(&yIn, &yOut, &yDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Angular Velosity PID Constructor
jvfausto 21:3489cffad196 21
jvfausto 19:71a6621ee5c3 22
jvfausto 21:3489cffad196 23 /* Thread measures current angular position */
jvfausto 21:3489cffad196 24 void Wheelchair::compass_thread()
jvfausto 21:3489cffad196 25 {
ryanlin97 11:d14a1f7f1297 26 curr_yaw = imu->yaw();
jvfausto 21:3489cffad196 27 z_angular = curr_yaw;
jvfausto 21:3489cffad196 28 }
jvfausto 17:7f3b69300bb6 29
jvfausto 21:3489cffad196 30 /* Thread measures velocity of wheels and distance traveled */
jvfausto 21:3489cffad196 31 void Wheelchair::velocity_thread()
ryanlin97 1:c0beadca1617 32 {
jvfausto 21:3489cffad196 33 curr_vel = wheel->getVelocity();
jvfausto 21:3489cffad196 34 curr_velS = wheelS->getVelocity();
jvfausto 21:3489cffad196 35 curr_pos = wheel->getDistance(53.975);
ryanlin97 1:c0beadca1617 36 }
ryanlin97 6:0cd57bdd8fbc 37
t1jain 28:e01253eb6c6f 38 void Wheelchair::emergencyButton_thread ()
t1jain 28:e01253eb6c6f 39 {
t1jain 28:e01253eb6c6f 40 while(1) {
t1jain 28:e01253eb6c6f 41 while(!e_button) {
t1jain 28:e01253eb6c6f 42
t1jain 28:e01253eb6c6f 43 //Stop wheelchair
t1jain 28:e01253eb6c6f 44 Wheelchair::stop();
t1jain 28:e01253eb6c6f 45 printf("E-button has been pressed\n\n\n");
t1jain 28:e01253eb6c6f 46 off->write(high); //turn off PCB
t1jain 28:e01253eb6c6f 47 on->write(0); //make sure PCB not on
t1jain 28:e01253eb6c6f 48 //Reset Board
t1jain 28:e01253eb6c6f 49 NVIC_SystemReset();
t1jain 28:e01253eb6c6f 50
t1jain 28:e01253eb6c6f 51 }
t1jain 28:e01253eb6c6f 52
t1jain 28:e01253eb6c6f 53 }
t1jain 28:e01253eb6c6f 54 }
t1jain 28:e01253eb6c6f 55
jvfausto 21:3489cffad196 56 void Wheelchair::assistSafe_thread()
ryanlin97 1:c0beadca1617 57 {
jvfausto 21:3489cffad196 58 int ToFV[12];
jvfausto 26:662693bd7f31 59 for(int i = 0; i < 6; i++) // reads from the ToF Sensors
jvfausto 21:3489cffad196 60 {
jvfausto 21:3489cffad196 61 ToFV[i] = (*(ToF+i))->readFromOneSensor();
jvfausto 21:3489cffad196 62 //out->printf("%d ", ToFV[i]);
jvfausto 27:da718b990837 63 }
jvfausto 27:da718b990837 64
jvfausto 26:662693bd7f31 65 //out->printf("\r\n");
jvfausto 27:da718b990837 66
jvfausto 27:da718b990837 67
jvfausto 27:da718b990837 68 for(int i = 0; i < 4; i++) { // Reads from the ToF Sensors
jvfausto 27:da718b990837 69 runningAverage[i] = ((runningAverage[i]*(4) + ToFV[(i*3)+1]) / 5);
jvfausto 27:da718b990837 70 }
jvfausto 27:da718b990837 71
jvfausto 27:da718b990837 72 int sensor1 = ToFV[0];
jvfausto 27:da718b990837 73 int sensor4 = ToFV[3];
jvfausto 27:da718b990837 74 out->printf("%d, %d\r\n", ToFV[1], runningAverage[0]);
jvfausto 27:da718b990837 75 if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor1 < curr_vel*curr_vel*1000*1000 ||
jvfausto 26:662693bd7f31 76 2 * maxDecelerationSlow*sensor4 < curr_vel*curr_vel*1000*1000) &&
jvfausto 26:662693bd7f31 77 (sensor1 < 1500 || sensor4 < 1500)) ||
jvfausto 26:662693bd7f31 78 550 > sensor1 || 550 > sensor4)
jvfausto 26:662693bd7f31 79 {
jvfausto 26:662693bd7f31 80 //out->printf("i am in danger\r\n");
jvfausto 26:662693bd7f31 81 if(x->read() > def)
jvfausto 26:662693bd7f31 82 {
jvfausto 26:662693bd7f31 83 x->write(def);
jvfausto 26:662693bd7f31 84 forwardSafety = 1;
jvfausto 26:662693bd7f31 85 }
jvfausto 26:662693bd7f31 86 }
jvfausto 26:662693bd7f31 87 else if(curr_vel > 1 &&((2 * maxDecelerationFast*sensor1 < curr_vel*curr_vel*1000*1000 ||
jvfausto 26:662693bd7f31 88 2 * maxDecelerationFast*sensor4 < curr_vel*curr_vel*1000*1000) &&
jvfausto 21:3489cffad196 89 (sensor1 < 1500 || sensor4 < 1500)) ||
jvfausto 21:3489cffad196 90 550 > sensor1 || 550 > sensor4)
jvfausto 21:3489cffad196 91 {
jvfausto 21:3489cffad196 92 //out->printf("i am in danger\r\n");
jvfausto 21:3489cffad196 93 if(x->read() > def)
jvfausto 21:3489cffad196 94 {
jvfausto 21:3489cffad196 95 x->write(def);
jvfausto 21:3489cffad196 96 forwardSafety = 1;
jvfausto 21:3489cffad196 97 }
jvfausto 21:3489cffad196 98 }
jvfausto 21:3489cffad196 99 else
jvfausto 21:3489cffad196 100 forwardSafety = 0;
jvfausto 27:da718b990837 101
jvfausto 21:3489cffad196 102 }
ryanlin97 6:0cd57bdd8fbc 103
jvfausto 21:3489cffad196 104 /* Constructor for Wheelchair class */
jvfausto 21:3489cffad196 105 Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS,
jvfausto 21:3489cffad196 106 VL53L1X** ToFT)
jvfausto 21:3489cffad196 107 {
jvfausto 21:3489cffad196 108 x_position = 0;
jvfausto 21:3489cffad196 109 y_position = 0;
jvfausto 21:3489cffad196 110 forwardSafety = 0;
jvfausto 21:3489cffad196 111 /* Initializes X and Y variables to Pins */
jvfausto 21:3489cffad196 112 x = new PwmOut(xPin);
jvfausto 21:3489cffad196 113 y = new PwmOut(yPin);
jvfausto 21:3489cffad196 114 /* Initializes IMU Library */
jvfausto 26:662693bd7f31 115 out = pc; // "out" is called for serial monitor
jvfausto 26:662693bd7f31 116 out->printf("on\r\n");
jvfausto 21:3489cffad196 117 imu = new chair_BNO055(pc, time);
jvfausto 21:3489cffad196 118 Wheelchair::stop(); // Wheelchair is initially stationary
jvfausto 21:3489cffad196 119 imu->setup(); // turns on the IMU
jvfausto 21:3489cffad196 120 wheelS = qeiS; // "wheel" is called for encoder
jvfausto 21:3489cffad196 121 wheel = qei;
jvfausto 21:3489cffad196 122 ToF = ToFT; // passes pointer with addresses of ToF sensors
jvfausto 21:3489cffad196 123
t1jain 28:e01253eb6c6f 124 for(int i = 0; i < 12; i++) // initializes the ToF Sensors
jvfausto 21:3489cffad196 125 {
jvfausto 21:3489cffad196 126 (*(ToF+i))->initReading(0x31+((0x02)*i), 50000);
jvfausto 21:3489cffad196 127 }
jvfausto 21:3489cffad196 128
jvfausto 21:3489cffad196 129 out->printf("wheelchair setup done \r\n"); // Make sure it initialized; prints in serial monitor
jvfausto 21:3489cffad196 130 ti = time;
jvfausto 27:da718b990837 131 for(int i = 0; i < 100; i++)
jvfausto 27:da718b990837 132 {
jvfausto 27:da718b990837 133 ledgeArrayLF[i] = (*(ToF+1))->readFromOneSensor();
jvfausto 27:da718b990837 134 ledgeArrayRF[i] = (*(ToF+1))->readFromOneSensor();
jvfausto 27:da718b990837 135 }
jvfausto 27:da718b990837 136 int* aaa = ledgeArrayLF;
t1jain 28:e01253eb6c6f 137
t1jain 28:e01253eb6c6f 138 statistics LFTStats(aaa, 99, 1);
t1jain 28:e01253eb6c6f 139 out->printf("Statistics: Mean = %f, Standard Dev = %f\n", LFTStats.mean(), LFTStats.stdev());
jvfausto 21:3489cffad196 140 myPID.SetMode(AUTOMATIC); // PID mode: Automatic
jvfausto 21:3489cffad196 141 }
jvfausto 21:3489cffad196 142
jvfausto 21:3489cffad196 143 /* Move wheelchair with joystick on manual mode */
jvfausto 21:3489cffad196 144 void Wheelchair::move(float x_coor, float y_coor)
jvfausto 21:3489cffad196 145 {
jvfausto 21:3489cffad196 146 /* Scales one joystick measurement to the chair's joystick measurement */
ryanlin97 4:29a27953fe70 147 float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
ryanlin97 4:29a27953fe70 148 float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
jvfausto 21:3489cffad196 149
jvfausto 21:3489cffad196 150 /* Sends the scaled joystic values to the chair */
jvfausto 21:3489cffad196 151 x->write(scaled_x);
ryanlin97 4:29a27953fe70 152 y->write(scaled_y);
ryanlin97 5:e0ccaab3959a 153 }
jvfausto 21:3489cffad196 154
jvfausto 21:3489cffad196 155 /* Automatic mode: move forward and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 156 void Wheelchair::forward()
ryanlin97 1:c0beadca1617 157 {
jvfausto 26:662693bd7f31 158 //printf("current velosity; %f, curr vel S %f\r\n", curr_vel, curr_velS);
jvfausto 21:3489cffad196 159 if(forwardSafety == 0)
jvfausto 21:3489cffad196 160 {
ryanlin97 0:fc0c4a184482 161 x->write(high);
ryanlin97 3:a5e71bfdb492 162 y->write(def+offset);
jvfausto 21:3489cffad196 163 }
jvfausto 26:662693bd7f31 164 out->printf("%f, %f\r\n", curr_pos, wheelS->getDistance(53.975));
ryanlin97 0:fc0c4a184482 165 }
jvfausto 21:3489cffad196 166
jvfausto 21:3489cffad196 167 /* Automatic mode: move in reverse and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 168 void Wheelchair::backward()
ryanlin97 1:c0beadca1617 169 {
ryanlin97 0:fc0c4a184482 170 x->write(low);
ryanlin97 0:fc0c4a184482 171 y->write(def);
ryanlin97 0:fc0c4a184482 172 }
jvfausto 21:3489cffad196 173
jvfausto 21:3489cffad196 174 /* Automatic mode: move right and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 175 void Wheelchair::right()
ryanlin97 1:c0beadca1617 176 {
ryanlin97 0:fc0c4a184482 177 x->write(def);
ryanlin97 11:d14a1f7f1297 178 y->write(low);
ryanlin97 0:fc0c4a184482 179 }
ryanlin97 0:fc0c4a184482 180
jvfausto 21:3489cffad196 181 /* Automatic mode: move left and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 182 void Wheelchair::left()
ryanlin97 1:c0beadca1617 183 {
ryanlin97 0:fc0c4a184482 184 x->write(def);
ryanlin97 11:d14a1f7f1297 185 y->write(high);
ryanlin97 0:fc0c4a184482 186 }
jvfausto 21:3489cffad196 187
jvfausto 21:3489cffad196 188 /* Stop the wheelchair */
jvfausto 21:3489cffad196 189 void Wheelchair::stop()
ryanlin97 1:c0beadca1617 190 {
ryanlin97 0:fc0c4a184482 191 x->write(def);
ryanlin97 0:fc0c4a184482 192 y->write(def);
ryanlin97 6:0cd57bdd8fbc 193 }
jvfausto 21:3489cffad196 194
jvfausto 21:3489cffad196 195 /* Counter-clockwise is -
jvfausto 21:3489cffad196 196 * Clockwise is +
jvfausto 21:3489cffad196 197 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 198 * This constructor takes in an angle from user and adjusts for turning right
jvfausto 21:3489cffad196 199 */
jvfausto 21:3489cffad196 200 void Wheelchair::pid_right(int deg)
ryanlin97 12:921488918749 201 {
t1jain 28:e01253eb6c6f 202 bool overturn = false; // Boolean if angle over 360˚
ryanlin97 12:921488918749 203
jvfausto 21:3489cffad196 204 out->printf("pid right\r\r\n");
jvfausto 21:3489cffad196 205 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 206 Setpoint = curr_yaw + deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 207 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 208
jvfausto 21:3489cffad196 209 /* Turns on overturn boolean if setpoint over 360˚ */
jvfausto 21:3489cffad196 210 if(Setpoint > 360)
jvfausto 21:3489cffad196 211 {
ryanlin97 12:921488918749 212 overturn = true;
ryanlin97 12:921488918749 213 }
jvfausto 21:3489cffad196 214
jvfausto 21:3489cffad196 215 myPID.SetTunings(5.5,0, 0.0035); // Sets the constants for P and D
jvfausto 21:3489cffad196 216 myPID.SetOutputLimits(0, def-low-.15); // Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 217 myPID.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 218
jvfausto 21:3489cffad196 219 /* PID stops when approaching a litte less than desired angle */
jvfausto 21:3489cffad196 220 while(pid_yaw < Setpoint - 3)
jvfausto 21:3489cffad196 221 {
jvfausto 21:3489cffad196 222 /* PID is set to correct angle range if angle greater than 360˚*/
jvfausto 17:7f3b69300bb6 223 if(overturn && curr_yaw < Setpoint-deg-1)
jvfausto 17:7f3b69300bb6 224 {
jvfausto 21:3489cffad196 225 pid_yaw = curr_yaw + 360;
jvfausto 21:3489cffad196 226 }
jvfausto 21:3489cffad196 227 else
jvfausto 21:3489cffad196 228 {
jvfausto 17:7f3b69300bb6 229 pid_yaw = curr_yaw;
ryanlin97 12:921488918749 230 }
jvfausto 21:3489cffad196 231
jvfausto 21:3489cffad196 232 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 233 double tempor = -Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 234 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 235
jvfausto 21:3489cffad196 236 /* Prints to serial monitor the current angle and setpoint */
jvfausto 21:3489cffad196 237 out->printf("curr_yaw %f\r\r\n", curr_yaw);
jvfausto 21:3489cffad196 238 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 239
jvfausto 21:3489cffad196 240 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 241 }
jvfausto 21:3489cffad196 242
jvfausto 21:3489cffad196 243 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 244 Wheelchair::stop();
jvfausto 21:3489cffad196 245 out->printf("done \r\n");
jvfausto 21:3489cffad196 246 }
jvfausto 21:3489cffad196 247
jvfausto 21:3489cffad196 248 /* Counter-clockwise is -
jvfausto 21:3489cffad196 249 * Clockwise is +
jvfausto 21:3489cffad196 250 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 251 * This constructor takes in an angle from user and adjusts for turning left
jvfausto 21:3489cffad196 252 */
jvfausto 21:3489cffad196 253 void Wheelchair::pid_left(int deg)
ryanlin97 12:921488918749 254 {
jvfausto 21:3489cffad196 255 bool overturn = false; //Boolean if angle under 0˚
ryanlin97 12:921488918749 256
jvfausto 21:3489cffad196 257 out->printf("pid Left\r\r\n");
jvfausto 21:3489cffad196 258 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 259 Setpoint = curr_yaw - deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 260 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 261
jvfausto 21:3489cffad196 262 /* Turns on overturn boolean if setpoint less than 0˚ */
jvfausto 21:3489cffad196 263 if(Setpoint < 0)
jvfausto 21:3489cffad196 264 {
ryanlin97 12:921488918749 265 overturn = true;
ryanlin97 12:921488918749 266 }
jvfausto 21:3489cffad196 267
jvfausto 21:3489cffad196 268 myPID.SetTunings(5,0, 0.004); // Sets the constants for P and D
jvfausto 21:3489cffad196 269 myPID.SetOutputLimits(0,high-def-.12); //Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 270 myPID.SetControllerDirection(REVERSE); // PID mode: Reverse
jvfausto 21:3489cffad196 271
jvfausto 21:3489cffad196 272 /* PID stops when approaching a litte more than desired angle */
jvfausto 21:3489cffad196 273 while(pid_yaw > Setpoint+3)
jvfausto 21:3489cffad196 274 {
jvfausto 21:3489cffad196 275 /* PID is set to correct angle range if angle less than 0˚ */
jvfausto 21:3489cffad196 276 if(overturn && curr_yaw > Setpoint+deg+1)
jvfausto 17:7f3b69300bb6 277 {
jvfausto 17:7f3b69300bb6 278 pid_yaw = curr_yaw - 360;
jvfausto 21:3489cffad196 279 }
jvfausto 21:3489cffad196 280 else
jvfausto 21:3489cffad196 281 {
jvfausto 21:3489cffad196 282 pid_yaw = curr_yaw;
jvfausto 21:3489cffad196 283 }
jvfausto 21:3489cffad196 284
jvfausto 21:3489cffad196 285 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 286 double tempor = Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 287 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 288
jvfausto 21:3489cffad196 289 /* Prints to serial monitor the current angle and setpoint */
jvfausto 17:7f3b69300bb6 290 out->printf("curr_yaw %f\r\n", curr_yaw);
jvfausto 21:3489cffad196 291 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 292
jvfausto 21:3489cffad196 293 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 294 }
jvfausto 21:3489cffad196 295
jvfausto 21:3489cffad196 296 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 297 Wheelchair::stop();
jvfausto 21:3489cffad196 298 out->printf("done \r\n");
ryanlin97 12:921488918749 299
jvfausto 21:3489cffad196 300 }
jvfausto 21:3489cffad196 301
jvfausto 21:3489cffad196 302 /* This constructor determines whether to turn left or right */
jvfausto 21:3489cffad196 303 void Wheelchair::pid_turn(int deg)
jvfausto 21:3489cffad196 304 {
jvfausto 21:3489cffad196 305
jvfausto 21:3489cffad196 306 /* Sets angle to coterminal angle for left turn if deg > 180
jvfausto 21:3489cffad196 307 * Sets angle to coterminal angle for right turn if deg < -180
jvfausto 21:3489cffad196 308 */
jvfausto 21:3489cffad196 309 if(deg > 180)
jvfausto 21:3489cffad196 310 {
ryanlin97 12:921488918749 311 deg -= 360;
ryanlin97 12:921488918749 312 }
jvfausto 21:3489cffad196 313 else if(deg < -180)
jvfausto 21:3489cffad196 314 {
jvfausto 21:3489cffad196 315 deg +=360;
ryanlin97 12:921488918749 316 }
ryanlin97 12:921488918749 317
jvfausto 21:3489cffad196 318 /* Makes sure angle inputted to function is positive */
ryanlin97 12:921488918749 319 int turnAmt = abs(deg);
jvfausto 21:3489cffad196 320
jvfausto 21:3489cffad196 321 /* Calls PID_right if deg > 0, else calls PID_left if deg < 0 */
jvfausto 21:3489cffad196 322 if(deg >= 0)
jvfausto 21:3489cffad196 323 {
jvfausto 21:3489cffad196 324 Wheelchair::pid_right(turnAmt);
jvfausto 21:3489cffad196 325 }
jvfausto 21:3489cffad196 326 else
jvfausto 21:3489cffad196 327 {
jvfausto 21:3489cffad196 328 Wheelchair::pid_left(turnAmt);
jvfausto 21:3489cffad196 329 }
ryanlin97 12:921488918749 330
jvfausto 21:3489cffad196 331 }
jvfausto 21:3489cffad196 332
jvfausto 21:3489cffad196 333 /* This constructor takes in distance to travel and adjust to move forward */
jvfausto 19:71a6621ee5c3 334 void Wheelchair::pid_forward(double mm)
jvfausto 17:7f3b69300bb6 335 {
jvfausto 21:3489cffad196 336 mm -= 20; // Makes sure distance does not overshoot
jvfausto 21:3489cffad196 337 Input = 0; // Initializes input to zero: Test latter w/o
jvfausto 21:3489cffad196 338 wheel->reset(); // Resets encoders so that they start at 0
jvfausto 21:3489cffad196 339
jvfausto 17:7f3b69300bb6 340 out->printf("pid foward\r\n");
jvfausto 21:3489cffad196 341
jvfausto 21:3489cffad196 342 double tempor; // Initializes Temporary variable for x input
jvfausto 21:3489cffad196 343 Setpoint = mm; // Initializes the setpoint to desired value
jvfausto 21:3489cffad196 344
jvfausto 21:3489cffad196 345 myPIDDistance.SetTunings(5.5,0, 0.0015); // Sets constants for P and D
jvfausto 21:3489cffad196 346 myPIDDistance.SetOutputLimits(0,high-def-.15); // Limit set to difference between high and def
jvfausto 21:3489cffad196 347 myPIDDistance.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 348
jvfausto 21:3489cffad196 349 y->write(def+offset); // Update y to make chair stationary
jvfausto 21:3489cffad196 350
jvfausto 21:3489cffad196 351 /* Chair stops moving when Setpoint is reached */
jvfausto 21:3489cffad196 352 while(Input < Setpoint){
jvfausto 21:3489cffad196 353
jvfausto 21:3489cffad196 354 if(out->readable()) // Emergency Break
jvfausto 21:3489cffad196 355 {
jvfausto 21:3489cffad196 356 break;
jvfausto 21:3489cffad196 357 }
jvfausto 17:7f3b69300bb6 358
jvfausto 21:3489cffad196 359 Input = wheel->getDistance(53.975); // Gets distance from Encoder into PID
jvfausto 21:3489cffad196 360 wait(.05); // Slight Delay: *****Test without
jvfausto 21:3489cffad196 361 myPIDDistance.Compute(); // Compute distance traveled by chair
jvfausto 21:3489cffad196 362
jvfausto 21:3489cffad196 363 tempor = Output + def; // Temporary output variable
jvfausto 21:3489cffad196 364 x->write(tempor); // Update x sent to chair
jvfausto 17:7f3b69300bb6 365
jvfausto 21:3489cffad196 366 /* Prints to serial monitor the distance traveled by chair */
jvfausto 19:71a6621ee5c3 367 out->printf("distance %f\r\n", Input);
jvfausto 17:7f3b69300bb6 368 }
ryanlin97 12:921488918749 369
jvfausto 17:7f3b69300bb6 370 }
jvfausto 21:3489cffad196 371
jvfausto 21:3489cffad196 372 /* This constructor returns the relative angular position of chair */
jvfausto 21:3489cffad196 373 double Wheelchair::getTwistZ()
jvfausto 17:7f3b69300bb6 374 {
jvfausto 21:3489cffad196 375 return imu->gyro_z();
jvfausto 21:3489cffad196 376 }
jvfausto 18:663b6d693252 377
jvfausto 21:3489cffad196 378 /* This constructor computes the relative angle for Twist message in ROS */
jvfausto 21:3489cffad196 379 void Wheelchair::pid_twistA()
jvfausto 21:3489cffad196 380 {
jvfausto 21:3489cffad196 381 /* Initialize variables for angle and update x,y sent to chair */
jvfausto 21:3489cffad196 382 char c;
jvfausto 21:3489cffad196 383 double temporA = def;
jvfausto 21:3489cffad196 384 y->write(def);
jvfausto 21:3489cffad196 385 x->write(def);
jvfausto 21:3489cffad196 386
jvfausto 21:3489cffad196 387 PIDAngularV.SetTunings(.00015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 388 PIDAngularV.SetOutputLimits(-.1, .1); // Limit set to be in range specified
jvfausto 21:3489cffad196 389 PIDAngularV.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 390
jvfausto 21:3489cffad196 391 /* Computes angular position of wheelchair while turning */
jvfausto 21:3489cffad196 392 while(1)
jvfausto 21:3489cffad196 393 {
jvfausto 21:3489cffad196 394 yDesired = angularV;
jvfausto 21:3489cffad196 395
jvfausto 21:3489cffad196 396 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 397 * if the desired angle is zero
jvfausto 21:3489cffad196 398 */
jvfausto 21:3489cffad196 399 if(yDesired == 0)
jvfausto 18:663b6d693252 400 {
jvfausto 21:3489cffad196 401 x->write(def);
jvfausto 21:3489cffad196 402 y->write(def);
jvfausto 21:3489cffad196 403 yDesired = 0;
ryanlin97 8:381a4ec3fef8 404 return;
ryanlin97 7:5e38d43fbce3 405 }
jvfausto 21:3489cffad196 406
jvfausto 21:3489cffad196 407 /* Continuously updates with current angle measured by IMU */
jvfausto 21:3489cffad196 408 yIn = imu->gyro_z();
jvfausto 21:3489cffad196 409 PIDAngularV.Compute();
jvfausto 21:3489cffad196 410 temporA += yOut; // Temporary value with the voltage output
jvfausto 21:3489cffad196 411 y->write(temporA); // Update y sent to chair
jvfausto 21:3489cffad196 412
jvfausto 21:3489cffad196 413 //out->printf("temporA: %f, yDesired %f, angle: %f\r\n", temporA, yDesired, imu->gyro_z());
jvfausto 21:3489cffad196 414 wait(.05); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 415 }
jvfausto 21:3489cffad196 416
jvfausto 21:3489cffad196 417 }
ryanlin97 6:0cd57bdd8fbc 418
jvfausto 21:3489cffad196 419 /* This constructor computes the relative velocity for Twist message in ROS */
jvfausto 21:3489cffad196 420 void Wheelchair::pid_twistV()
ryanlin97 6:0cd57bdd8fbc 421 {
jvfausto 21:3489cffad196 422 /* Initializes variables as default */
jvfausto 21:3489cffad196 423 double temporV = def;
jvfausto 26:662693bd7f31 424 double temporS = def+offset;
jvfausto 21:3489cffad196 425 vDesiredS = 0;
jvfausto 21:3489cffad196 426 x->write(def);
jvfausto 21:3489cffad196 427 y->write(def);
jvfausto 21:3489cffad196 428 wheel->reset(); // Resets the encoders
jvfausto 21:3489cffad196 429 /* Sets the constants for P and D */
jvfausto 21:3489cffad196 430 PIDVelosity.SetTunings(.0005,0, 0.00);
jvfausto 26:662693bd7f31 431 PIDSlaveV.SetTunings(.005,0.000001, 0.000001);
jvfausto 21:3489cffad196 432
jvfausto 21:3489cffad196 433 /* Limits to the range specified */
jvfausto 21:3489cffad196 434 PIDVelosity.SetOutputLimits(-.005, .005);
jvfausto 21:3489cffad196 435 PIDSlaveV.SetOutputLimits(-.002, .002);
jvfausto 21:3489cffad196 436
jvfausto 21:3489cffad196 437 /* PID mode: Direct */
jvfausto 21:3489cffad196 438 PIDVelosity.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 439 PIDSlaveV.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 440
jvfausto 21:3489cffad196 441 while(1)
jvfausto 21:3489cffad196 442 {
jvfausto 21:3489cffad196 443 linearV = .7;
jvfausto 21:3489cffad196 444 test1 = linearV*100;
jvfausto 21:3489cffad196 445 vel = curr_vel;
jvfausto 21:3489cffad196 446 vDesired = linearV*100;
jvfausto 21:3489cffad196 447 if(out->readable())
jvfausto 21:3489cffad196 448 return;
jvfausto 21:3489cffad196 449 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 450 * if the velocity is zero
jvfausto 21:3489cffad196 451 */
jvfausto 21:3489cffad196 452 if(linearV == 0)
jvfausto 21:3489cffad196 453 {
jvfausto 21:3489cffad196 454 x->write(def);
jvfausto 21:3489cffad196 455 y->write(def);
ryanlin97 8:381a4ec3fef8 456
jvfausto 21:3489cffad196 457 vel = 0;
jvfausto 21:3489cffad196 458 vDesired = 0;
jvfausto 21:3489cffad196 459 dist_old = 0;
ryanlin97 8:381a4ec3fef8 460 return;
ryanlin97 8:381a4ec3fef8 461 }
jvfausto 21:3489cffad196 462
jvfausto 21:3489cffad196 463 if(vDesired >= 0)
jvfausto 21:3489cffad196 464 {
jvfausto 21:3489cffad196 465 PIDVelosity.SetTunings(.000004,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 466 PIDVelosity.SetOutputLimits(-.002, .002); // Limits to the range specified
jvfausto 21:3489cffad196 467 }
jvfausto 21:3489cffad196 468 else
jvfausto 21:3489cffad196 469 {
jvfausto 21:3489cffad196 470 PIDVelosity.SetTunings(.000015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 471 PIDVelosity.SetOutputLimits(-.0005, .0005); // Limits to range specified
jvfausto 21:3489cffad196 472 }
jvfausto 21:3489cffad196 473
jvfausto 21:3489cffad196 474 /* Sets maximum value of variable to 1 */
jvfausto 21:3489cffad196 475 if(temporV >= 1.5)
jvfausto 21:3489cffad196 476 {
jvfausto 21:3489cffad196 477 temporV = 1.5;
ryanlin97 8:381a4ec3fef8 478 }
jvfausto 21:3489cffad196 479 /* Scales and makes some adjustments to velocity */
jvfausto 21:3489cffad196 480 vIn = curr_vel*100;
jvfausto 21:3489cffad196 481 vInS = curr_vel-curr_velS;
jvfausto 21:3489cffad196 482 PIDVelosity.Compute();
jvfausto 21:3489cffad196 483 PIDSlaveV.Compute();
jvfausto 21:3489cffad196 484 if(forwardSafety == 0)
jvfausto 21:3489cffad196 485 {
jvfausto 21:3489cffad196 486 temporV += vOut;
jvfausto 21:3489cffad196 487 temporS += vOutS;
jvfausto 21:3489cffad196 488
jvfausto 21:3489cffad196 489 /* Updates x,y sent to Wheelchair and for Odometry message in ROS */
jvfausto 21:3489cffad196 490 x->write(temporV);
jvfausto 21:3489cffad196 491 test2 = temporV;
jvfausto 21:3489cffad196 492 y->write(temporS);
jvfausto 21:3489cffad196 493 }
jvfausto 21:3489cffad196 494 else
jvfausto 21:3489cffad196 495 {
jvfausto 21:3489cffad196 496 x->write(def);
jvfausto 21:3489cffad196 497 y->write(def);
jvfausto 21:3489cffad196 498 }
jvfausto 21:3489cffad196 499 //out->printf("Velosity: %f, Velosity2: %f, temporV %f, temporS %f\r\n", curr_vel, curr_velS, temporV, temporS);
jvfausto 21:3489cffad196 500 Wheelchair::odomMsg();
jvfausto 21:3489cffad196 501 wait(.01); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 502 }
ryanlin97 11:d14a1f7f1297 503 }
ryanlin97 11:d14a1f7f1297 504
jvfausto 21:3489cffad196 505 /* This constructor calculates the relative position of the chair everytime the encoders reset
jvfausto 21:3489cffad196 506 * by setting its old position as the origin to calculate the new position
jvfausto 21:3489cffad196 507 */
jvfausto 21:3489cffad196 508 void Wheelchair::odomMsg()
ryanlin97 11:d14a1f7f1297 509 {
jvfausto 21:3489cffad196 510 double dist_new = curr_pos;
jvfausto 21:3489cffad196 511 double dist = dist_new-dist_old;
jvfausto 21:3489cffad196 512 double temp_x = dist*sin(z_angular*3.14159/180);
jvfausto 21:3489cffad196 513 double temp_y = dist*cos(z_angular*3.14159/180);
jvfausto 21:3489cffad196 514
jvfausto 21:3489cffad196 515 x_position += temp_x;
jvfausto 21:3489cffad196 516 y_position += temp_y;
ryanlin97 11:d14a1f7f1297 517
jvfausto 21:3489cffad196 518 dist_old = dist_new;
jvfausto 21:3489cffad196 519 }
jvfausto 21:3489cffad196 520
jvfausto 21:3489cffad196 521 /* This constructor prints the Odometry message to the serial monitor */
jvfausto 21:3489cffad196 522 void Wheelchair::showOdom()
jvfausto 21:3489cffad196 523 {
jvfausto 21:3489cffad196 524 out->printf("x %f, y %f, angle %f", x_position, y_position, z_angular);
jvfausto 21:3489cffad196 525 }
jvfausto 21:3489cffad196 526
jvfausto 21:3489cffad196 527 /* This constructor returns the approximate distance based on the wheel diameter */
jvfausto 21:3489cffad196 528 float Wheelchair::getDistance()
jvfausto 21:3489cffad196 529 {
jvfausto 21:3489cffad196 530 return wheel->getDistance(Diameter);
ryanlin97 6:0cd57bdd8fbc 531 }
ryanlin97 8:381a4ec3fef8 532
jvfausto 21:3489cffad196 533 /* This constructor resets the wheel encoder's */
jvfausto 21:3489cffad196 534 void Wheelchair::resetDistance()
jvfausto 21:3489cffad196 535 {
ryanlin97 12:921488918749 536 wheel->reset();
jvfausto 21:3489cffad196 537 }
jvfausto 21:3489cffad196 538
jvfausto 21:3489cffad196 539
jvfausto 21:3489cffad196 540 /*Predetermined paths For Demmo*/
jvfausto 21:3489cffad196 541 void Wheelchair::desk()
jvfausto 21:3489cffad196 542 {
jvfausto 19:71a6621ee5c3 543 Wheelchair::pid_forward(5461);
jvfausto 19:71a6621ee5c3 544 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 545 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 546 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 547 Wheelchair::pid_forward(3658);
jvfausto 21:3489cffad196 548 }
jvfausto 21:3489cffad196 549
jvfausto 21:3489cffad196 550 void Wheelchair::kitchen()
jvfausto 21:3489cffad196 551 {
jvfausto 19:71a6621ee5c3 552 Wheelchair::pid_forward(5461);
jvfausto 20:f42db4ae16f0 553 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 554 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 555 Wheelchair::pid_left(90);
jvfausto 19:71a6621ee5c3 556 Wheelchair::pid_forward(305);
jvfausto 21:3489cffad196 557 }
jvfausto 21:3489cffad196 558
jvfausto 21:3489cffad196 559 void Wheelchair::desk_to_kitchen()
jvfausto 21:3489cffad196 560 {
jvfausto 19:71a6621ee5c3 561 Wheelchair::pid_right(180);
jvfausto 19:71a6621ee5c3 562 Wheelchair::pid_forward(3700);
jvfausto 21:3489cffad196 563 }