Revision 28:e01253eb6c6f, committed 2019-06-28

Comitter:

t1jain

Date:

Fri Jun 28 23:52:23 2019 +0000

Parent:

27:da718b990837

Commit message:

Updated with Statistics Library

Changed in this revision

--- a/Statistics/statistics.cpp	Fri Jun 28 21:16:26 2019 +0000
+++ b/Statistics/statistics.cpp	Fri Jun 28 23:52:23 2019 +0000
@@ -1,13 +1,14 @@
 #include "statistics.h"
 #include "mbed.h"
 
-    statistics::statistics(int* Input, int dataLengthIn, int firstDataPoint){
+    statistics::statistics(int* Input, int dataLengthIn, int firstDataPointIn){
         data = Input;
         dataLength = dataLengthIn;
+        firstDataPoint = firstDataPointIn;
         }
     double statistics::mean(){
         double sum;
-        for(int i = 0; i < dataLength; ++i)
+        for(int i = firstDataPoint; i < (firstDataPoint + dataLength); ++i)
         {
             sum += data[i];
         }
@@ -16,19 +17,24 @@
         return average;
     }
     double statistics::stdev(){
-        float sum = 0.0, mean, standardDeviation = 0.0;
+        double sum = 0.0, mean, standardDeviation = 0.0;
+        printf("The length of the array is %d\n", dataLength);
+        //double num = (pow(2.0,2.0));
+        //printf("2^2 is %f\n", num);
+        //int i;
 
-        int i;
-
-        for(int i = 0; i < dataLength; ++i)
+        for(int i = firstDataPoint; i < (firstDataPoint + dataLength); ++i)
         {
             sum += data[i];
+            printf("%d\n", data[i]);
         }
     
         mean = sum/dataLength;
     
-        for(int i = 0; i < dataLength; ++i)
-            standardDeviation += pow(data[i] - mean, 2);
+        for(int i = firstDataPoint; i < (firstDataPoint + dataLength); ++i) {
+            //standardDeviation += pow(data[i] - mean, 2);
+            standardDeviation += (data[i] - mean)*(data[i] - mean);
+            }
     
         return sqrt(standardDeviation / dataLength);
     }

--- a/Statistics/statistics.h	Fri Jun 28 21:16:26 2019 +0000
+++ b/Statistics/statistics.h	Fri Jun 28 23:52:23 2019 +0000
@@ -14,6 +14,7 @@
   private:
    int* data;
    int dataLength;
+   int firstDataPoint;
 
     
 };

--- a/wheelchair.cpp	Fri Jun 28 21:16:26 2019 +0000
+++ b/wheelchair.cpp	Fri Jun 28 23:52:23 2019 +0000
@@ -35,6 +35,24 @@
     curr_pos = wheel->getDistance(53.975);
 }
 
+void Wheelchair::emergencyButton_thread ()
+{
+    while(1) {
+        while(!e_button) {
+
+            //Stop wheelchair
+            Wheelchair::stop();
+            printf("E-button has been pressed\n\n\n");
+            off->write(high);                              //turn off PCB
+            on->write(0);                                  //make sure PCB not on
+            //Reset Board
+            NVIC_SystemReset();
+
+        }
+
+    }
+}
+
 void Wheelchair::assistSafe_thread()
 {
     int ToFV[12];
@@ -103,7 +121,7 @@
     wheel = qei;   
     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);
     }
@@ -116,8 +134,9 @@
         ledgeArrayRF[i] = (*(ToF+1))->readFromOneSensor();
     }
     int* aaa = ledgeArrayLF; 
-    statistics LFTStats(aaa, 100, 0); 
-    out->printf("stadistics = %f, %f",  LFTStats.mean(), LFTStats.stdev());
+    
+    statistics LFTStats(aaa, 99, 1); 
+    out->printf("Statistics: Mean = %f, Standard Dev = %f\n",  LFTStats.mean(), LFTStats.stdev());
     myPID.SetMode(AUTOMATIC);                                                           // PID mode: Automatic
 }
 
@@ -180,7 +199,7 @@
  */
 void Wheelchair::pid_right(int deg)
 {
-    bool overturn = false;                                                              //Boolean if angle over 360˚
+    bool overturn = false;                                                              // Boolean if angle over 360˚
     
     out->printf("pid right\r\r\n");                                
     x->write(def);                                                                      // Update x sent to chair to be stationary

--- a/wheelchair.h	Fri Jun 28 21:16:26 2019 +0000
+++ b/wheelchair.h	Fri Jun 28 23:52:23 2019 +0000
@@ -75,7 +75,7 @@
     void velocity_thread();
     void rosCom_thread();
     void assistSafe_thread();
-
+    void emergencyButton_thread();
     
     /* Move x millimiters foward using PID*/
     void pid_forward(double mm);
@@ -128,6 +128,12 @@
     PwmOut* x;
     PwmOut* y;
     
+    //Pointers for PCB
+    PwmOut* on;
+    PwmOut* off;
+    
+    DigitalIn* e_button;                //Pointer to e_button
+    
     chair_BNO055* imu;                  // Pointer to IMU
     Serial* out;                        // Pointer to Serial Monitor
     Timer* ti;                          // Pointer to the timer