Updated references from MPU6050 to BNO080
Dependencies: QEI2 PID Watchdog VL53L1X_Filter BNOWrapper ros_lib_kinetic
wheelchair.h
- Committer:
- jvfausto
- Date:
- 2019-06-28
- Revision:
- 27:da718b990837
- Parent:
- 26:662693bd7f31
- Child:
- 28:6d6bd8ad04dc
File content as of revision 27:da718b990837:
#ifndef wheelchair #define wheelchair /* Importing libraries into wheelchair.h */ #include "chair_BNO055.h" #include "PID.h" #include "QEI.h" #include "VL53L1X.h" #include "statistics.h" #include <ros.h> #include <geometry_msgs/Twist.h> #include <nav_msgs/Odometry.h> /* * 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 /* Pin plug in for Nucleo-L432KC */ #define xDir PA_6 //* PWM Pins */ #define yDir PA_5 #define Encoder1 D7 //*Digital In Pull Up Pin */ #define Encoder2 D8 #define Diameter 31.75 //Diameter of encoder wheel #define maxDecelerationSlow 120 #define maxDecelerationFast 30 #define ToFSensorNum 12 /** Wheelchair class * Used for controlling the smart wheelchair */ class Wheelchair { public: /** Create Wheelchair Object with x,y pin for analog dc output * serial for printout, and timer */ Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* wheel, QEI* wheelS, VL53L1X** ToF); /** Move using the joystick */ void move(float x_coor, float y_coor); /* Turn right a certain amount of degrees using PID*/ void pid_right(int deg); /* Turn left a certain amount of degrees using PID*/ void pid_left(int deg); /* Drive the wheelchair forward */ void forward(); /* Drive the wheelchair in reverse*/ void backward(); /* Turn the wheelchair right*/ void right(); /* Turn the wheelchair left*/ void left(); /* Stop the wheelchair*/ void stop(); /* Functions to get IMU data*/ void compass_thread(); void velocity_thread(); void rosCom_thread(); void assistSafe_thread(); /* Move x millimiters foward using PID*/ void pid_forward(double mm); /* Obtain angular position for Twist message */ double getTwistZ(); /* Gets the encoder distance moved since encoder reset*/ float getDistance(); /* Resets encoder*/ void resetDistance(); /* Function to determine whether we are turning left or right*/ void pid_turn(int deg); /* Function to obtain angular and linear velocity */ void pid_twistA(); void pid_twistV(); /* Function to publish and show Odometry message */ void odomMsg(); void showOdom(); /* Functions with a predetermined path (demo) */ void desk(); void kitchen(); void desk_to_kitchen(); /* Variables for postion, angle, and velocity */ double x_position; double y_position; double z_angular; double curr_vel; double z_twistA; double linearV; double angularV; double vel; double test1, test2; bool forwardSafety; double curr_yaw, curr_velS; // Variable that contains current relative angle private: int runningAverage[4]; int ledgeArrayLF[100]; int ledgeArrayRF[100]; /* Pointers for the joystick speed */ PwmOut* x; PwmOut* y; chair_BNO055* imu; // Pointer to IMU Serial* out; // Pointer to Serial Monitor Timer* ti; // Pointer to the timer QEI* wheel; // Pointer to encoder QEI* wheelS; // Pointer to encoder VL53L1X** ToF; // Arrays of pointers to ToF sensors }; #endif