Updated references from MPU6050 to BNO080
Dependencies: QEI2 PID Watchdog VL53L1X_Filter BNOWrapper ros_lib_kinetic
wheelchair.cpp@40:11b8567c507b, 2019-07-11 (annotated)
- Committer:
- t1jain
- Date:
- Thu Jul 11 18:38:03 2019 +0000
- Revision:
- 40:11b8567c507b
- Parent:
- 39:5438557a8b4e
- Child:
- 41:1a687bcf4b0a
Back ToF added
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JesiMiranda | 35:5a2fed4c2e9f | 1 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 2 | * Importing header into wheelchair.cpp * |
JesiMiranda | 35:5a2fed4c2e9f | 3 | **************************************************************************/ |
ryanlin97 | 0:fc0c4a184482 | 4 | #include "wheelchair.h" |
t1jain | 30:c25b2556e84d | 5 | |
JesiMiranda | 35:5a2fed4c2e9f | 6 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 7 | * Defining global variables * |
JesiMiranda | 35:5a2fed4c2e9f | 8 | **************************************************************************/ |
jvfausto | 21:3489cffad196 | 9 | bool manual_drive = false; // Variable changes between joystick and auto drive |
jvfausto | 21:3489cffad196 | 10 | double encoder_distance; // Keeps distanse due to original position |
JesiMiranda | 35:5a2fed4c2e9f | 11 | |
jvfausto | 21:3489cffad196 | 12 | volatile double Setpoint, Output, Input, Input2; // Variables for PID |
jvfausto | 21:3489cffad196 | 13 | volatile double pid_yaw, Distance, Setpoint2, Output2, encoder_distance2; // Variables for PID |
jvfausto | 21:3489cffad196 | 14 | volatile double vIn, vOut, vDesired; // Variables for PID Velosity |
jvfausto | 21:3489cffad196 | 15 | volatile double vInS, vOutS, vDesiredS; // Variables for PID Slave Wheel |
jvfausto | 21:3489cffad196 | 16 | volatile double yIn, yOut, yDesired; // Variables for PID turn velosity |
t1jain | 30:c25b2556e84d | 17 | // int* ToFDataPointer1; |
t1jain | 30:c25b2556e84d | 18 | // int* ToFDataPointer2; |
t1jain | 30:c25b2556e84d | 19 | |
JesiMiranda | 35:5a2fed4c2e9f | 20 | int ledgeArrayLF[150]; |
JesiMiranda | 35:5a2fed4c2e9f | 21 | int ledgeArrayRF[150]; |
t1jain | 30:c25b2556e84d | 22 | int* ToFDataPointer1 = ledgeArrayLF; |
t1jain | 30:c25b2556e84d | 23 | int* ToFDataPointer2 = ledgeArrayRF; |
JesiMiranda | 35:5a2fed4c2e9f | 24 | Statistics LFTStats(ToFDataPointer1, 149, 1); |
JesiMiranda | 35:5a2fed4c2e9f | 25 | Statistics RFTStats(ToFDataPointer2, 149, 1); |
t1jain | 40:11b8567c507b | 26 | int k = 0; |
t1jain | 38:cb87f4e353b9 | 27 | |
t1jain | 38:cb87f4e353b9 | 28 | int ledgeArrayLB[150]; |
t1jain | 38:cb87f4e353b9 | 29 | int ledgeArrayRB[150]; |
t1jain | 38:cb87f4e353b9 | 30 | int* ToFDataPointer3 = ledgeArrayLB; |
t1jain | 38:cb87f4e353b9 | 31 | int* ToFDataPointer4 = ledgeArrayRB; |
t1jain | 38:cb87f4e353b9 | 32 | Statistics LBTStats(ToFDataPointer3, 149, 1); |
t1jain | 38:cb87f4e353b9 | 33 | Statistics RBTStats(ToFDataPointer4, 149, 1); |
ryanlin97 | 11:d14a1f7f1297 | 34 | |
jvfausto | 21:3489cffad196 | 35 | double dist_old, curr_pos; // Variables for odometry position |
t1jain | 30:c25b2556e84d | 36 | double outlierToF[4]; |
jvfausto | 19:71a6621ee5c3 | 37 | |
JesiMiranda | 35:5a2fed4c2e9f | 38 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 39 | * Creating PID objects * |
JesiMiranda | 35:5a2fed4c2e9f | 40 | **************************************************************************/ |
jvfausto | 21:3489cffad196 | 41 | PID myPID(&pid_yaw, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT); // Angle PID object constructor |
jvfausto | 21:3489cffad196 | 42 | PID myPIDDistance(&Input, &Output, &Setpoint, 5.5, .00, 0.002, P_ON_E, DIRECT); // Distance PID object constructor |
jvfausto | 21:3489cffad196 | 43 | PID PIDVelosity(&vIn, &vOut, &vDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Velosity PID Constructor |
jvfausto | 21:3489cffad196 | 44 | PID PIDSlaveV(&vInS, &vOutS, &vDesiredS, 5.5, .00, .002, P_ON_E, DIRECT); // Slave Velosity PID Constructor |
jvfausto | 21:3489cffad196 | 45 | PID PIDAngularV(&yIn, &yOut, &yDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Angular Velosity PID Constructor |
JesiMiranda | 35:5a2fed4c2e9f | 46 | |
jvfausto | 19:71a6621ee5c3 | 47 | |
JesiMiranda | 35:5a2fed4c2e9f | 48 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 49 | * Thread measures current angular position * |
JesiMiranda | 35:5a2fed4c2e9f | 50 | **************************************************************************/ |
JesiMiranda | 35:5a2fed4c2e9f | 51 | void Wheelchair::compass_thread() |
JesiMiranda | 35:5a2fed4c2e9f | 52 | { |
JesiMiranda | 35:5a2fed4c2e9f | 53 | curr_yaw = imu->yaw(); |
JesiMiranda | 35:5a2fed4c2e9f | 54 | z_angular = curr_yaw; |
jvfausto | 21:3489cffad196 | 55 | } |
jvfausto | 17:7f3b69300bb6 | 56 | |
JesiMiranda | 35:5a2fed4c2e9f | 57 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 58 | * Thread measures velocity of wheels and distance traveled * |
JesiMiranda | 35:5a2fed4c2e9f | 59 | **************************************************************************/ |
JesiMiranda | 35:5a2fed4c2e9f | 60 | void Wheelchair::velocity_thread() |
ryanlin97 | 1:c0beadca1617 | 61 | { |
jvfausto | 21:3489cffad196 | 62 | curr_vel = wheel->getVelocity(); |
jvfausto | 21:3489cffad196 | 63 | curr_velS = wheelS->getVelocity(); |
jvfausto | 21:3489cffad196 | 64 | curr_pos = wheel->getDistance(53.975); |
ryanlin97 | 1:c0beadca1617 | 65 | } |
ryanlin97 | 6:0cd57bdd8fbc | 66 | |
t1jain | 34:b89967adc86c | 67 | void Wheelchair::emergencyButton_thread () |
t1jain | 34:b89967adc86c | 68 | { |
t1jain | 34:b89967adc86c | 69 | while(1) { |
t1jain | 34:b89967adc86c | 70 | while(!e_button) { |
t1jain | 34:b89967adc86c | 71 | |
t1jain | 34:b89967adc86c | 72 | //Stop wheelchair |
t1jain | 34:b89967adc86c | 73 | Wheelchair::stop(); |
t1jain | 34:b89967adc86c | 74 | printf("E-button has been pressed\r\n"); |
t1jain | 34:b89967adc86c | 75 | off->write(high); // Turn off PCB |
t1jain | 34:b89967adc86c | 76 | on->write(0); // Make sure PCB not on |
t1jain | 34:b89967adc86c | 77 | //Reset Board |
t1jain | 34:b89967adc86c | 78 | NVIC_SystemReset(); |
t1jain | 34:b89967adc86c | 79 | |
t1jain | 34:b89967adc86c | 80 | } |
t1jain | 34:b89967adc86c | 81 | |
t1jain | 34:b89967adc86c | 82 | } |
t1jain | 34:b89967adc86c | 83 | } |
t1jain | 34:b89967adc86c | 84 | |
JesiMiranda | 35:5a2fed4c2e9f | 85 | /************************************************************************* |
JesiMiranda | 37:e0e6d3fe06a2 | 86 | * Thread checks ToF sensors for safety of wheelchair movement * |
JesiMiranda | 35:5a2fed4c2e9f | 87 | **************************************************************************/ |
t1jain | 30:c25b2556e84d | 88 | void Wheelchair::ToFSafe_thread() |
ryanlin97 | 1:c0beadca1617 | 89 | { |
jvfausto | 21:3489cffad196 | 90 | int ToFV[12]; |
JesiMiranda | 35:5a2fed4c2e9f | 91 | for(int i = 0; i < 6; i++) { // Reads from the ToF Sensors |
jvfausto | 21:3489cffad196 | 92 | ToFV[i] = (*(ToF+i))->readFromOneSensor(); |
t1jain | 32:fb26baa75d44 | 93 | //out->printf("%d ", ToFV[i]); |
JesiMiranda | 35:5a2fed4c2e9f | 94 | } |
JesiMiranda | 35:5a2fed4c2e9f | 95 | |
JesiMiranda | 35:5a2fed4c2e9f | 96 | //out->printf("\r\n"); |
JesiMiranda | 35:5a2fed4c2e9f | 97 | |
t1jain | 40:11b8567c507b | 98 | k++; |
JesiMiranda | 35:5a2fed4c2e9f | 99 | |
t1jain | 40:11b8567c507b | 100 | if (k == 150) { |
t1jain | 40:11b8567c507b | 101 | k = 1; |
t1jain | 30:c25b2556e84d | 102 | } |
JesiMiranda | 35:5a2fed4c2e9f | 103 | |
t1jain | 40:11b8567c507b | 104 | ledgeArrayLF[k] = (*(ToF+1))->readFromOneSensor(); |
t1jain | 40:11b8567c507b | 105 | ledgeArrayRF[k] = (*(ToF+4))->readFromOneSensor(); |
JesiMiranda | 35:5a2fed4c2e9f | 106 | |
t1jain | 31:06f2362caf12 | 107 | /*for(int i = 0; i < 100; i++) |
t1jain | 31:06f2362caf12 | 108 | { |
t1jain | 31:06f2362caf12 | 109 | out->printf("%d, ",ledgeArrayRF[i]); |
t1jain | 31:06f2362caf12 | 110 | } |
t1jain | 31:06f2362caf12 | 111 | out->printf("\r\n");*/ |
t1jain | 34:b89967adc86c | 112 | |
t1jain | 30:c25b2556e84d | 113 | outlierToF[0] = LFTStats.mean() + 2*LFTStats.stdev(); |
JesiMiranda | 35:5a2fed4c2e9f | 114 | outlierToF[1] = RFTStats.mean() + 2*RFTStats.stdev(); |
JesiMiranda | 35:5a2fed4c2e9f | 115 | |
t1jain | 40:11b8567c507b | 116 | for(int i = 0; i < 2; i++) { // Reads from the ToF Sensors |
jvfausto | 27:da718b990837 | 117 | runningAverage[i] = ((runningAverage[i]*(4) + ToFV[(i*3)+1]) / 5); |
t1jain | 30:c25b2556e84d | 118 | } |
JesiMiranda | 35:5a2fed4c2e9f | 119 | |
jvfausto | 27:da718b990837 | 120 | int sensor1 = ToFV[0]; |
jvfausto | 27:da718b990837 | 121 | int sensor4 = ToFV[3]; |
JesiMiranda | 35:5a2fed4c2e9f | 122 | if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor1 < curr_vel*curr_vel*1000*1000 || |
JesiMiranda | 35:5a2fed4c2e9f | 123 | 2 * maxDecelerationSlow*sensor4 < curr_vel*curr_vel*1000*1000) && |
JesiMiranda | 35:5a2fed4c2e9f | 124 | (sensor1 < 1500 || sensor4 < 1500)) || |
JesiMiranda | 35:5a2fed4c2e9f | 125 | 550 > sensor1 || 550 > sensor4) { |
JesiMiranda | 35:5a2fed4c2e9f | 126 | if(x->read() > def) { |
jvfausto | 26:662693bd7f31 | 127 | x->write(def); |
t1jain | 30:c25b2556e84d | 128 | forwardSafety = 1; // You cannot move forward |
jvfausto | 26:662693bd7f31 | 129 | } |
jvfausto | 26:662693bd7f31 | 130 | } |
JesiMiranda | 35:5a2fed4c2e9f | 131 | |
JesiMiranda | 35:5a2fed4c2e9f | 132 | else if(curr_vel > 1 &&((2 * maxDecelerationFast*sensor1 < curr_vel*curr_vel*1000*1000 || |
JesiMiranda | 35:5a2fed4c2e9f | 133 | 2 * maxDecelerationFast*sensor4 < curr_vel*curr_vel*1000*1000) && |
JesiMiranda | 35:5a2fed4c2e9f | 134 | (sensor1 < 1500 || sensor4 < 1500)) || |
JesiMiranda | 35:5a2fed4c2e9f | 135 | 550 > sensor1 || 550 > sensor4) { |
JesiMiranda | 35:5a2fed4c2e9f | 136 | if(x->read() > def) { |
jvfausto | 21:3489cffad196 | 137 | x->write(def); |
t1jain | 34:b89967adc86c | 138 | forwardSafety = 1; // You cannot move forward |
jvfausto | 21:3489cffad196 | 139 | } |
jvfausto | 21:3489cffad196 | 140 | } |
JesiMiranda | 35:5a2fed4c2e9f | 141 | |
t1jain | 30:c25b2556e84d | 142 | else if ((runningAverage[0] > outlierToF[0]) || (runningAverage[1] > outlierToF[1])) { |
t1jain | 30:c25b2556e84d | 143 | forwardSafety = 1; |
t1jain | 38:cb87f4e353b9 | 144 | out->printf("I'M STOPPING BECAUSE OF A FRONT LEDGE\r\n"); |
JesiMiranda | 35:5a2fed4c2e9f | 145 | } |
JesiMiranda | 35:5a2fed4c2e9f | 146 | |
jvfausto | 21:3489cffad196 | 147 | else |
jvfausto | 21:3489cffad196 | 148 | forwardSafety = 0; |
t1jain | 38:cb87f4e353b9 | 149 | |
t1jain | 38:cb87f4e353b9 | 150 | //////////////////////////////////////////////////////////////////////////// |
t1jain | 38:cb87f4e353b9 | 151 | |
t1jain | 40:11b8567c507b | 152 | // k2++; |
t1jain | 40:11b8567c507b | 153 | // |
t1jain | 40:11b8567c507b | 154 | // if (k2 == 150) { |
t1jain | 40:11b8567c507b | 155 | // k2 = 0; |
t1jain | 40:11b8567c507b | 156 | // } |
t1jain | 38:cb87f4e353b9 | 157 | |
t1jain | 40:11b8567c507b | 158 | ledgeArrayLB[k] = (*(ToF+1))->readFromOneSensor(); |
t1jain | 40:11b8567c507b | 159 | ledgeArrayRB[k] = (*(ToF+4))->readFromOneSensor(); |
t1jain | 38:cb87f4e353b9 | 160 | |
t1jain | 38:cb87f4e353b9 | 161 | outlierToF[2] = LBTStats.mean() + 2*LBTStats.stdev(); |
t1jain | 38:cb87f4e353b9 | 162 | outlierToF[3] = RBTStats.mean() + 2*RBTStats.stdev(); |
t1jain | 38:cb87f4e353b9 | 163 | |
t1jain | 40:11b8567c507b | 164 | for(int i = 2; i < 4; i++) { // Reads from the ToF Sensors |
t1jain | 38:cb87f4e353b9 | 165 | runningAverage[i] = ((runningAverage[i]*(4) + ToFV[(i*3)+1]) / 5); |
t1jain | 38:cb87f4e353b9 | 166 | } |
t1jain | 38:cb87f4e353b9 | 167 | |
t1jain | 38:cb87f4e353b9 | 168 | int sensor7 = ToFV[6]; |
t1jain | 38:cb87f4e353b9 | 169 | int sensor10 = ToFV[9]; |
t1jain | 38:cb87f4e353b9 | 170 | if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor7 < curr_vel*curr_vel*1000*1000 || |
t1jain | 38:cb87f4e353b9 | 171 | 2 * maxDecelerationSlow*sensor10 < curr_vel*curr_vel*1000*1000) && |
t1jain | 38:cb87f4e353b9 | 172 | (sensor7 < 1500 || sensor10 < 1500)) || |
t1jain | 38:cb87f4e353b9 | 173 | 550 > sensor7 || 550 > sensor10) { |
t1jain | 38:cb87f4e353b9 | 174 | if(x->read() > def) { |
t1jain | 38:cb87f4e353b9 | 175 | x->write(def); |
t1jain | 39:5438557a8b4e | 176 | backwardSafety = 1; // You cannot move backwards |
t1jain | 38:cb87f4e353b9 | 177 | } |
t1jain | 38:cb87f4e353b9 | 178 | } |
t1jain | 38:cb87f4e353b9 | 179 | |
t1jain | 38:cb87f4e353b9 | 180 | else if(curr_vel > 1 &&((2 * maxDecelerationFast*sensor1 < curr_vel*curr_vel*1000*1000 || |
t1jain | 38:cb87f4e353b9 | 181 | 2 * maxDecelerationFast*sensor4 < curr_vel*curr_vel*1000*1000) && |
t1jain | 38:cb87f4e353b9 | 182 | (sensor7 < 1500 || sensor10 < 1500)) || |
t1jain | 38:cb87f4e353b9 | 183 | 550 > sensor7 || 550 > sensor10) { |
t1jain | 38:cb87f4e353b9 | 184 | if(x->read() > def) { |
t1jain | 38:cb87f4e353b9 | 185 | x->write(def); |
t1jain | 39:5438557a8b4e | 186 | backwardSafety = 1; // You cannot move backwards |
t1jain | 38:cb87f4e353b9 | 187 | } |
t1jain | 38:cb87f4e353b9 | 188 | } |
t1jain | 38:cb87f4e353b9 | 189 | |
t1jain | 38:cb87f4e353b9 | 190 | else if ((runningAverage[2] > outlierToF[2]) || (runningAverage[3] > outlierToF[3])) { |
t1jain | 38:cb87f4e353b9 | 191 | backwardSafety = 1; |
t1jain | 38:cb87f4e353b9 | 192 | out->printf("I'M STOPPING BECAUSE OF A BACK LEDGE\r\n"); |
t1jain | 38:cb87f4e353b9 | 193 | } |
t1jain | 38:cb87f4e353b9 | 194 | |
t1jain | 38:cb87f4e353b9 | 195 | else |
t1jain | 38:cb87f4e353b9 | 196 | backwardSafety = 0; |
t1jain | 38:cb87f4e353b9 | 197 | |
t1jain | 38:cb87f4e353b9 | 198 | |
t1jain | 38:cb87f4e353b9 | 199 | //////////////////////////////////////////////////////////////////////////// |
JesiMiranda | 35:5a2fed4c2e9f | 200 | |
JesiMiranda | 37:e0e6d3fe06a2 | 201 | /*Side Tof begin*/ |
t1jain | 34:b89967adc86c | 202 | int sensor3 = ToFV[2]; //front left |
t1jain | 34:b89967adc86c | 203 | int sensor6 = ToFV[5]; //front right |
t1jain | 34:b89967adc86c | 204 | int sensor9 = ToFV[8]; //back |
t1jain | 34:b89967adc86c | 205 | int sensor12 = ToFV[11]; //back |
t1jain | 34:b89967adc86c | 206 | |
JesiMiranda | 37:e0e6d3fe06a2 | 207 | double currAngularVelocity = imu->gyro_x(); //Current angular velocity from IMU |
JesiMiranda | 37:e0e6d3fe06a2 | 208 | double angle = imu->yaw() * 3.14159 / 180; //from IMU, in rads |
JesiMiranda | 37:e0e6d3fe06a2 | 209 | double arcLength = WheelchairRadius * currAngularVelocity * |
JesiMiranda | 37:e0e6d3fe06a2 | 210 | currAngularVelocity / (2 * maxAngularDeceleration); //S = r*Ө, in cm |
JesiMiranda | 37:e0e6d3fe06a2 | 211 | |
JesiMiranda | 37:e0e6d3fe06a2 | 212 | /* Clear the front side first, else continue going straight or can't turn |
JesiMiranda | 37:e0e6d3fe06a2 | 213 | After clearing the front sideand movinf forward, check if can clear the back |
JesiMiranda | 37:e0e6d3fe06a2 | 214 | when turning */ |
JesiMiranda | 37:e0e6d3fe06a2 | 215 | |
JesiMiranda | 37:e0e6d3fe06a2 | 216 | //When either sensors too close to the wall, can't turn |
JesiMiranda | 37:e0e6d3fe06a2 | 217 | if(sensor3 <= minWallLength) { |
JesiMiranda | 37:e0e6d3fe06a2 | 218 | leftSafety = 1; |
JesiMiranda | 37:e0e6d3fe06a2 | 219 | out-> printf("Detecting wall to the left!\n"); |
JesiMiranda | 37:e0e6d3fe06a2 | 220 | } |
JesiMiranda | 37:e0e6d3fe06a2 | 221 | else{ |
JesiMiranda | 37:e0e6d3fe06a2 | 222 | leftSafety = 0; |
JesiMiranda | 37:e0e6d3fe06a2 | 223 | } |
JesiMiranda | 37:e0e6d3fe06a2 | 224 | |
JesiMiranda | 37:e0e6d3fe06a2 | 225 | if(sensor6 <= minWallLength) { |
JesiMiranda | 37:e0e6d3fe06a2 | 226 | rightSafety = 1; |
JesiMiranda | 37:e0e6d3fe06a2 | 227 | out-> printf("Detecting wall to the right!\n"); |
JesiMiranda | 37:e0e6d3fe06a2 | 228 | } |
JesiMiranda | 37:e0e6d3fe06a2 | 229 | else { |
JesiMiranda | 37:e0e6d3fe06a2 | 230 | rightSafety = 0; |
t1jain | 34:b89967adc86c | 231 | } |
t1jain | 34:b89967adc86c | 232 | |
JesiMiranda | 37:e0e6d3fe06a2 | 233 | /*Check whether safe to keep turning |
JesiMiranda | 37:e0e6d3fe06a2 | 234 | Know the exact moment you can stop the chair going at a certain speed before |
JesiMiranda | 37:e0e6d3fe06a2 | 235 | its too late*/ |
JesiMiranda | 37:e0e6d3fe06a2 | 236 | if((currAngularVelocity * currAngularVelocity > 2 * |
JesiMiranda | 37:e0e6d3fe06a2 | 237 | maxAngularDeceleration * angle) && (sensor3/10 <= arcLength + 10)) { |
JesiMiranda | 37:e0e6d3fe06a2 | 238 | leftSafety = 1; //Not safe to turn left |
JesiMiranda | 37:e0e6d3fe06a2 | 239 | out-> printf("Too fast to the left!\n"); |
JesiMiranda | 37:e0e6d3fe06a2 | 240 | } |
JesiMiranda | 37:e0e6d3fe06a2 | 241 | else{ |
JesiMiranda | 37:e0e6d3fe06a2 | 242 | leftSafety = 0; |
JesiMiranda | 37:e0e6d3fe06a2 | 243 | } |
JesiMiranda | 37:e0e6d3fe06a2 | 244 | if((currAngularVelocity * currAngularVelocity > 2 * |
JesiMiranda | 37:e0e6d3fe06a2 | 245 | maxAngularDeceleration * angle) && (sensor6/10 <= arcLength + 10)) { |
JesiMiranda | 37:e0e6d3fe06a2 | 246 | rightSafety = 1; //Not safe to turn right |
JesiMiranda | 37:e0e6d3fe06a2 | 247 | out-> printf("Too fast to the right!\n"); |
t1jain | 34:b89967adc86c | 248 | } |
JesiMiranda | 37:e0e6d3fe06a2 | 249 | else{ |
JesiMiranda | 37:e0e6d3fe06a2 | 250 | rightSafety = 0; |
JesiMiranda | 37:e0e6d3fe06a2 | 251 | } |
JesiMiranda | 37:e0e6d3fe06a2 | 252 | |
JesiMiranda | 37:e0e6d3fe06a2 | 253 | //Safe to continue turning |
JesiMiranda | 37:e0e6d3fe06a2 | 254 | //Check if can turn left and back side sensors |
t1jain | 39:5438557a8b4e | 255 | // Staring t road and frequenctly checking |
JesiMiranda | 37:e0e6d3fe06a2 | 256 | //Check the back sensor |
JesiMiranda | 37:e0e6d3fe06a2 | 257 | /*int sensor7 = ToFV[0]; //back sensor NOTTT SURE |
JesiMiranda | 37:e0e6d3fe06a2 | 258 | int sensor8 = ToFV[3]; //back sensor |
JesiMiranda | 37:e0e6d3fe06a2 | 259 | |
JesiMiranda | 37:e0e6d3fe06a2 | 260 | if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor7 < curr_vel*curr_vel*1000*1000 || |
JesiMiranda | 37:e0e6d3fe06a2 | 261 | 2 * maxDecelerationSlow*sensor8 < curr_vel*curr_vel*1000*1000) && |
JesiMiranda | 37:e0e6d3fe06a2 | 262 | (sensor7 < 1500 || sensor8 < 1500)) || |
JesiMiranda | 37:e0e6d3fe06a2 | 263 | 550 > sensor7 || 550 > sensor8) |
JesiMiranda | 37:e0e6d3fe06a2 | 264 | { |
JesiMiranda | 37:e0e6d3fe06a2 | 265 | //out->printf("i am in danger\r\n"); |
JesiMiranda | 37:e0e6d3fe06a2 | 266 | if(x->read() > def) |
JesiMiranda | 37:e0e6d3fe06a2 | 267 | { |
JesiMiranda | 37:e0e6d3fe06a2 | 268 | x->write(def); |
JesiMiranda | 37:e0e6d3fe06a2 | 269 | backwardSafety = 1;// You cannot move backward |
JesiMiranda | 37:e0e6d3fe06a2 | 270 | } |
JesiMiranda | 37:e0e6d3fe06a2 | 271 | } |
JesiMiranda | 37:e0e6d3fe06a2 | 272 | //When going to fast to stop from wall |
JesiMiranda | 37:e0e6d3fe06a2 | 273 | else if(curr_vel > 1 &&((2 * maxDecelerationFast*sensor7 < curr_vel*curr_vel*1000*1000 || |
JesiMiranda | 37:e0e6d3fe06a2 | 274 | 2 * maxDecelerationFast*sensor8 < curr_vel*curr_vel*1000*1000) && |
JesiMiranda | 37:e0e6d3fe06a2 | 275 | (sensor7 < 1500 || sensor8 < 1500)) || |
JesiMiranda | 37:e0e6d3fe06a2 | 276 | 550 > sensor7 || 550 > sensor8) |
JesiMiranda | 37:e0e6d3fe06a2 | 277 | { |
JesiMiranda | 37:e0e6d3fe06a2 | 278 | //out->printf("i am in danger\r\n"); |
JesiMiranda | 37:e0e6d3fe06a2 | 279 | if(x->read() > def) |
JesiMiranda | 37:e0e6d3fe06a2 | 280 | { |
JesiMiranda | 37:e0e6d3fe06a2 | 281 | x->write(def); |
JesiMiranda | 37:e0e6d3fe06a2 | 282 | backwardSafety = 1; |
JesiMiranda | 37:e0e6d3fe06a2 | 283 | } |
JesiMiranda | 37:e0e6d3fe06a2 | 284 | }*/ |
JesiMiranda | 37:e0e6d3fe06a2 | 285 | |
JesiMiranda | 37:e0e6d3fe06a2 | 286 | /*Side Tof end*/ |
JesiMiranda | 37:e0e6d3fe06a2 | 287 | |
jvfausto | 21:3489cffad196 | 288 | } |
ryanlin97 | 6:0cd57bdd8fbc | 289 | |
JesiMiranda | 35:5a2fed4c2e9f | 290 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 291 | * Constructor for Wheelchair class * |
JesiMiranda | 35:5a2fed4c2e9f | 292 | **************************************************************************/ |
JesiMiranda | 35:5a2fed4c2e9f | 293 | Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS, |
JesiMiranda | 35:5a2fed4c2e9f | 294 | VL53L1X** ToFT) |
jvfausto | 21:3489cffad196 | 295 | { |
jvfausto | 21:3489cffad196 | 296 | x_position = 0; |
jvfausto | 21:3489cffad196 | 297 | y_position = 0; |
jvfausto | 21:3489cffad196 | 298 | forwardSafety = 0; |
t1jain | 39:5438557a8b4e | 299 | backwardSafety = 0; |
JesiMiranda | 35:5a2fed4c2e9f | 300 | |
jvfausto | 21:3489cffad196 | 301 | /* Initializes X and Y variables to Pins */ |
JesiMiranda | 35:5a2fed4c2e9f | 302 | x = new PwmOut(xPin); |
jvfausto | 21:3489cffad196 | 303 | y = new PwmOut(yPin); |
JesiMiranda | 35:5a2fed4c2e9f | 304 | |
jvfausto | 21:3489cffad196 | 305 | /* Initializes IMU Library */ |
jvfausto | 26:662693bd7f31 | 306 | out = pc; // "out" is called for serial monitor |
jvfausto | 26:662693bd7f31 | 307 | out->printf("on\r\n"); |
JesiMiranda | 37:e0e6d3fe06a2 | 308 | imu = new IMUWheelchair(pc, time); |
jvfausto | 21:3489cffad196 | 309 | Wheelchair::stop(); // Wheelchair is initially stationary |
jvfausto | 21:3489cffad196 | 310 | imu->setup(); // turns on the IMU |
jvfausto | 21:3489cffad196 | 311 | wheelS = qeiS; // "wheel" is called for encoder |
JesiMiranda | 35:5a2fed4c2e9f | 312 | wheel = qei; |
jvfausto | 21:3489cffad196 | 313 | ToF = ToFT; // passes pointer with addresses of ToF sensors |
JesiMiranda | 35:5a2fed4c2e9f | 314 | |
JesiMiranda | 35:5a2fed4c2e9f | 315 | for(int i = 0; i < 12; i++) { // initializes the ToF Sensors |
jvfausto | 21:3489cffad196 | 316 | (*(ToF+i))->initReading(0x31+((0x02)*i), 50000); |
jvfausto | 21:3489cffad196 | 317 | } |
JesiMiranda | 35:5a2fed4c2e9f | 318 | |
jvfausto | 21:3489cffad196 | 319 | out->printf("wheelchair setup done \r\n"); // Make sure it initialized; prints in serial monitor |
jvfausto | 21:3489cffad196 | 320 | ti = time; |
JesiMiranda | 35:5a2fed4c2e9f | 321 | for(int i = 0; i < 10; i++) { |
JesiMiranda | 35:5a2fed4c2e9f | 322 | (*(ToF+1))->readFromOneSensor(); |
JesiMiranda | 35:5a2fed4c2e9f | 323 | (*(ToF+1))->readFromOneSensor(); |
t1jain | 31:06f2362caf12 | 324 | } |
JesiMiranda | 35:5a2fed4c2e9f | 325 | for(int i = 0; i < 150; i++) { |
jvfausto | 27:da718b990837 | 326 | ledgeArrayLF[i] = (*(ToF+1))->readFromOneSensor(); |
t1jain | 30:c25b2556e84d | 327 | ledgeArrayRF[i] = (*(ToF+4))->readFromOneSensor(); |
jvfausto | 27:da718b990837 | 328 | } |
JesiMiranda | 35:5a2fed4c2e9f | 329 | |
t1jain | 30:c25b2556e84d | 330 | outlierToF[0] = LFTStats.mean() + 2*LFTStats.stdev(); |
t1jain | 30:c25b2556e84d | 331 | outlierToF[1] = RFTStats.mean() + 2*RFTStats.stdev(); |
t1jain | 34:b89967adc86c | 332 | |
jvfausto | 21:3489cffad196 | 333 | myPID.SetMode(AUTOMATIC); // PID mode: Automatic |
jvfausto | 21:3489cffad196 | 334 | } |
jvfausto | 21:3489cffad196 | 335 | |
JesiMiranda | 35:5a2fed4c2e9f | 336 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 337 | * Move wheelchair with joystick on manual mode * |
JesiMiranda | 35:5a2fed4c2e9f | 338 | **************************************************************************/ |
JesiMiranda | 35:5a2fed4c2e9f | 339 | void Wheelchair::move(float x_coor, float y_coor) |
jvfausto | 21:3489cffad196 | 340 | { |
JesiMiranda | 35:5a2fed4c2e9f | 341 | /* Scales one joystick measurement to the chair's joystick measurement */ |
ryanlin97 | 4:29a27953fe70 | 342 | float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f; |
ryanlin97 | 4:29a27953fe70 | 343 | float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f; |
jvfausto | 21:3489cffad196 | 344 | |
JesiMiranda | 35:5a2fed4c2e9f | 345 | /* Sends the scaled joystic values to the chair */ |
JesiMiranda | 35:5a2fed4c2e9f | 346 | x->write(scaled_x); |
ryanlin97 | 4:29a27953fe70 | 347 | y->write(scaled_y); |
ryanlin97 | 5:e0ccaab3959a | 348 | } |
JesiMiranda | 35:5a2fed4c2e9f | 349 | |
JesiMiranda | 35:5a2fed4c2e9f | 350 | |
JesiMiranda | 35:5a2fed4c2e9f | 351 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 352 | * Automatic mode: move forward and update x,y coordinate sent to chair * |
JesiMiranda | 35:5a2fed4c2e9f | 353 | **************************************************************************/ |
JesiMiranda | 35:5a2fed4c2e9f | 354 | void Wheelchair::forward() |
ryanlin97 | 1:c0beadca1617 | 355 | { |
jvfausto | 26:662693bd7f31 | 356 | //printf("current velosity; %f, curr vel S %f\r\n", curr_vel, curr_velS); |
JesiMiranda | 35:5a2fed4c2e9f | 357 | if(forwardSafety == 0) { |
JesiMiranda | 35:5a2fed4c2e9f | 358 | x->write(high); |
JesiMiranda | 35:5a2fed4c2e9f | 359 | y->write(def+offset); |
jvfausto | 21:3489cffad196 | 360 | } |
jvfausto | 26:662693bd7f31 | 361 | out->printf("%f, %f\r\n", curr_pos, wheelS->getDistance(53.975)); |
ryanlin97 | 0:fc0c4a184482 | 362 | } |
JesiMiranda | 35:5a2fed4c2e9f | 363 | |
JesiMiranda | 35:5a2fed4c2e9f | 364 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 365 | * Automatic mode: move in reverse and update x,y coordinate sent to chair* |
JesiMiranda | 35:5a2fed4c2e9f | 366 | **************************************************************************/ |
JesiMiranda | 35:5a2fed4c2e9f | 367 | void Wheelchair::backward() |
ryanlin97 | 1:c0beadca1617 | 368 | { |
t1jain | 39:5438557a8b4e | 369 | if (backwardSafety == 0) { |
t1jain | 39:5438557a8b4e | 370 | x->write(low); |
t1jain | 39:5438557a8b4e | 371 | y->write(def); |
t1jain | 39:5438557a8b4e | 372 | } |
ryanlin97 | 0:fc0c4a184482 | 373 | } |
JesiMiranda | 35:5a2fed4c2e9f | 374 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 375 | * Automatic mode: move right and update x,y coordinate sent to chair * |
JesiMiranda | 35:5a2fed4c2e9f | 376 | **************************************************************************/ |
JesiMiranda | 35:5a2fed4c2e9f | 377 | void Wheelchair::right() |
ryanlin97 | 1:c0beadca1617 | 378 | { |
t1jain | 34:b89967adc86c | 379 | //if safe to move, from ToFSafety |
JesiMiranda | 37:e0e6d3fe06a2 | 380 | if(rightSafety == 0) { |
JesiMiranda | 35:5a2fed4c2e9f | 381 | x->write(def); |
JesiMiranda | 35:5a2fed4c2e9f | 382 | y->write(low); |
t1jain | 34:b89967adc86c | 383 | } |
ryanlin97 | 0:fc0c4a184482 | 384 | } |
JesiMiranda | 35:5a2fed4c2e9f | 385 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 386 | * Automatic mode: move left and update x,y coordinate sent to chair * |
JesiMiranda | 35:5a2fed4c2e9f | 387 | **************************************************************************/ |
JesiMiranda | 35:5a2fed4c2e9f | 388 | void Wheelchair::left() |
ryanlin97 | 1:c0beadca1617 | 389 | { |
t1jain | 34:b89967adc86c | 390 | //if safe to move, from ToFSafety |
JesiMiranda | 37:e0e6d3fe06a2 | 391 | if(leftSafety == 0) { |
t1jain | 34:b89967adc86c | 392 | x->write(def); |
t1jain | 34:b89967adc86c | 393 | y->write(high); |
t1jain | 34:b89967adc86c | 394 | } |
ryanlin97 | 0:fc0c4a184482 | 395 | } |
JesiMiranda | 35:5a2fed4c2e9f | 396 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 397 | * Stop the wheelchair * |
JesiMiranda | 35:5a2fed4c2e9f | 398 | **************************************************************************/ |
JesiMiranda | 35:5a2fed4c2e9f | 399 | void Wheelchair::stop() |
ryanlin97 | 1:c0beadca1617 | 400 | { |
ryanlin97 | 0:fc0c4a184482 | 401 | x->write(def); |
ryanlin97 | 0:fc0c4a184482 | 402 | y->write(def); |
ryanlin97 | 6:0cd57bdd8fbc | 403 | } |
JesiMiranda | 35:5a2fed4c2e9f | 404 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 405 | * Counter-clockwise is ( - ) * |
JesiMiranda | 35:5a2fed4c2e9f | 406 | * Clockwise is ( + ) * |
JesiMiranda | 35:5a2fed4c2e9f | 407 | * Range of deg: 0 to 360 * |
JesiMiranda | 35:5a2fed4c2e9f | 408 | * This method takes in an angle from user and adjusts for turning right * |
JesiMiranda | 35:5a2fed4c2e9f | 409 | **************************************************************************/ |
jvfausto | 21:3489cffad196 | 410 | void Wheelchair::pid_right(int deg) |
ryanlin97 | 12:921488918749 | 411 | { |
t1jain | 33:f3585571f11e | 412 | bool overturn = false; // Boolean if angle over 360˚ |
JesiMiranda | 35:5a2fed4c2e9f | 413 | |
JesiMiranda | 35:5a2fed4c2e9f | 414 | out->printf("pid right\r\r\n"); |
jvfausto | 21:3489cffad196 | 415 | x->write(def); // Update x sent to chair to be stationary |
jvfausto | 21:3489cffad196 | 416 | Setpoint = curr_yaw + deg; // Relative angle we want to turn |
jvfausto | 21:3489cffad196 | 417 | pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user |
JesiMiranda | 35:5a2fed4c2e9f | 418 | |
jvfausto | 21:3489cffad196 | 419 | /* Turns on overturn boolean if setpoint over 360˚ */ |
JesiMiranda | 35:5a2fed4c2e9f | 420 | if(Setpoint > 360) { |
ryanlin97 | 12:921488918749 | 421 | overturn = true; |
ryanlin97 | 12:921488918749 | 422 | } |
JesiMiranda | 35:5a2fed4c2e9f | 423 | |
jvfausto | 21:3489cffad196 | 424 | myPID.SetTunings(5.5,0, 0.0035); // Sets the constants for P and D |
jvfausto | 21:3489cffad196 | 425 | myPID.SetOutputLimits(0, def-low-.15); // Limit is set to the differnce between def and low |
jvfausto | 21:3489cffad196 | 426 | myPID.SetControllerDirection(DIRECT); // PID mode: Direct |
JesiMiranda | 35:5a2fed4c2e9f | 427 | |
JesiMiranda | 35:5a2fed4c2e9f | 428 | /* PID stops when approaching a litte less than desired angle */ |
JesiMiranda | 35:5a2fed4c2e9f | 429 | while(pid_yaw < Setpoint - 3) { |
jvfausto | 21:3489cffad196 | 430 | /* PID is set to correct angle range if angle greater than 360˚*/ |
JesiMiranda | 35:5a2fed4c2e9f | 431 | if(overturn && curr_yaw < Setpoint-deg-1) { |
JesiMiranda | 35:5a2fed4c2e9f | 432 | pid_yaw = curr_yaw + 360; |
JesiMiranda | 35:5a2fed4c2e9f | 433 | } else { |
jvfausto | 17:7f3b69300bb6 | 434 | pid_yaw = curr_yaw; |
ryanlin97 | 12:921488918749 | 435 | } |
JesiMiranda | 35:5a2fed4c2e9f | 436 | |
jvfausto | 21:3489cffad196 | 437 | myPID.Compute(); // Does PID calculations |
jvfausto | 21:3489cffad196 | 438 | double tempor = -Output+def; // Temporary value with the voltage output |
JesiMiranda | 35:5a2fed4c2e9f | 439 | y->write(tempor); // Update y sent to chair |
JesiMiranda | 35:5a2fed4c2e9f | 440 | |
jvfausto | 21:3489cffad196 | 441 | /* Prints to serial monitor the current angle and setpoint */ |
JesiMiranda | 35:5a2fed4c2e9f | 442 | out->printf("curr_yaw %f\r\r\n", curr_yaw); |
jvfausto | 21:3489cffad196 | 443 | out->printf("Setpoint = %f \r\n", Setpoint); |
JesiMiranda | 35:5a2fed4c2e9f | 444 | |
jvfausto | 21:3489cffad196 | 445 | wait(.05); // Small delay (milliseconds) |
ryanlin97 | 12:921488918749 | 446 | } |
JesiMiranda | 35:5a2fed4c2e9f | 447 | |
jvfausto | 21:3489cffad196 | 448 | /* Saftey stop for wheelchair */ |
JesiMiranda | 35:5a2fed4c2e9f | 449 | Wheelchair::stop(); |
jvfausto | 21:3489cffad196 | 450 | out->printf("done \r\n"); |
jvfausto | 21:3489cffad196 | 451 | } |
JesiMiranda | 35:5a2fed4c2e9f | 452 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 453 | * Counter-clockwise is ( - ) * |
JesiMiranda | 35:5a2fed4c2e9f | 454 | * Clockwise is ( + ) * |
JesiMiranda | 35:5a2fed4c2e9f | 455 | * Range of deg: 0 to 360 * |
JesiMiranda | 35:5a2fed4c2e9f | 456 | * This method takes in an angle from user and adjusts for turning left * |
JesiMiranda | 35:5a2fed4c2e9f | 457 | **************************************************************************/ |
JesiMiranda | 35:5a2fed4c2e9f | 458 | void Wheelchair::pid_left(int deg) |
ryanlin97 | 12:921488918749 | 459 | { |
jvfausto | 21:3489cffad196 | 460 | bool overturn = false; //Boolean if angle under 0˚ |
JesiMiranda | 35:5a2fed4c2e9f | 461 | |
JesiMiranda | 35:5a2fed4c2e9f | 462 | out->printf("pid Left\r\r\n"); |
jvfausto | 21:3489cffad196 | 463 | x->write(def); // Update x sent to chair to be stationary |
jvfausto | 21:3489cffad196 | 464 | Setpoint = curr_yaw - deg; // Relative angle we want to turn |
jvfausto | 21:3489cffad196 | 465 | pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user |
JesiMiranda | 35:5a2fed4c2e9f | 466 | |
jvfausto | 21:3489cffad196 | 467 | /* Turns on overturn boolean if setpoint less than 0˚ */ |
JesiMiranda | 35:5a2fed4c2e9f | 468 | if(Setpoint < 0) { |
ryanlin97 | 12:921488918749 | 469 | overturn = true; |
ryanlin97 | 12:921488918749 | 470 | } |
JesiMiranda | 35:5a2fed4c2e9f | 471 | |
jvfausto | 21:3489cffad196 | 472 | myPID.SetTunings(5,0, 0.004); // Sets the constants for P and D |
t1jain | 33:f3585571f11e | 473 | myPID.SetOutputLimits(0,high-def-.12); // Limit is set to the differnce between def and low |
jvfausto | 21:3489cffad196 | 474 | myPID.SetControllerDirection(REVERSE); // PID mode: Reverse |
JesiMiranda | 35:5a2fed4c2e9f | 475 | |
jvfausto | 21:3489cffad196 | 476 | /* PID stops when approaching a litte more than desired angle */ |
JesiMiranda | 35:5a2fed4c2e9f | 477 | while(pid_yaw > Setpoint+3) { |
JesiMiranda | 35:5a2fed4c2e9f | 478 | /* PID is set to correct angle range if angle less than 0˚ */ |
JesiMiranda | 35:5a2fed4c2e9f | 479 | if(overturn && curr_yaw > Setpoint+deg+1) { |
JesiMiranda | 35:5a2fed4c2e9f | 480 | pid_yaw = curr_yaw - 360; |
JesiMiranda | 35:5a2fed4c2e9f | 481 | } else { |
JesiMiranda | 35:5a2fed4c2e9f | 482 | pid_yaw = curr_yaw; |
JesiMiranda | 35:5a2fed4c2e9f | 483 | } |
JesiMiranda | 35:5a2fed4c2e9f | 484 | |
jvfausto | 21:3489cffad196 | 485 | myPID.Compute(); // Does PID calculations |
jvfausto | 21:3489cffad196 | 486 | double tempor = Output+def; // Temporary value with the voltage output |
jvfausto | 21:3489cffad196 | 487 | y->write(tempor); // Update y sent to chair |
JesiMiranda | 35:5a2fed4c2e9f | 488 | |
jvfausto | 21:3489cffad196 | 489 | /* Prints to serial monitor the current angle and setpoint */ |
jvfausto | 17:7f3b69300bb6 | 490 | out->printf("curr_yaw %f\r\n", curr_yaw); |
jvfausto | 21:3489cffad196 | 491 | out->printf("Setpoint = %f \r\n", Setpoint); |
JesiMiranda | 35:5a2fed4c2e9f | 492 | |
jvfausto | 21:3489cffad196 | 493 | wait(.05); // Small delay (milliseconds) |
ryanlin97 | 12:921488918749 | 494 | } |
JesiMiranda | 35:5a2fed4c2e9f | 495 | |
JesiMiranda | 35:5a2fed4c2e9f | 496 | /* Saftey stop for wheelchair */ |
JesiMiranda | 35:5a2fed4c2e9f | 497 | Wheelchair::stop(); |
jvfausto | 21:3489cffad196 | 498 | out->printf("done \r\n"); |
ryanlin97 | 12:921488918749 | 499 | |
jvfausto | 21:3489cffad196 | 500 | } |
JesiMiranda | 35:5a2fed4c2e9f | 501 | |
JesiMiranda | 35:5a2fed4c2e9f | 502 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 503 | * This method determines whether to turn left or right * |
JesiMiranda | 35:5a2fed4c2e9f | 504 | **************************************************************************/ |
JesiMiranda | 35:5a2fed4c2e9f | 505 | void Wheelchair::pid_turn(int deg) |
JesiMiranda | 35:5a2fed4c2e9f | 506 | { |
JesiMiranda | 35:5a2fed4c2e9f | 507 | |
JesiMiranda | 35:5a2fed4c2e9f | 508 | /***************************************************************** |
JesiMiranda | 35:5a2fed4c2e9f | 509 | * Sets angle to coterminal angle for left turn if deg > 180 * |
JesiMiranda | 35:5a2fed4c2e9f | 510 | * Sets angle to coterminal angle for right turn if deg < -180 * |
JesiMiranda | 35:5a2fed4c2e9f | 511 | *****************************************************************/ |
JesiMiranda | 35:5a2fed4c2e9f | 512 | if(deg > 180) { |
ryanlin97 | 12:921488918749 | 513 | deg -= 360; |
JesiMiranda | 35:5a2fed4c2e9f | 514 | } else if(deg < -180) { |
JesiMiranda | 35:5a2fed4c2e9f | 515 | deg +=360; |
ryanlin97 | 12:921488918749 | 516 | } |
JesiMiranda | 35:5a2fed4c2e9f | 517 | |
jvfausto | 21:3489cffad196 | 518 | /* Makes sure angle inputted to function is positive */ |
ryanlin97 | 12:921488918749 | 519 | int turnAmt = abs(deg); |
JesiMiranda | 35:5a2fed4c2e9f | 520 | |
jvfausto | 21:3489cffad196 | 521 | /* Calls PID_right if deg > 0, else calls PID_left if deg < 0 */ |
JesiMiranda | 35:5a2fed4c2e9f | 522 | if(deg >= 0) { |
JesiMiranda | 35:5a2fed4c2e9f | 523 | Wheelchair::pid_right(turnAmt); |
JesiMiranda | 35:5a2fed4c2e9f | 524 | } else { |
JesiMiranda | 35:5a2fed4c2e9f | 525 | Wheelchair::pid_left(turnAmt); |
jvfausto | 21:3489cffad196 | 526 | } |
ryanlin97 | 12:921488918749 | 527 | |
jvfausto | 21:3489cffad196 | 528 | } |
jvfausto | 21:3489cffad196 | 529 | |
JesiMiranda | 35:5a2fed4c2e9f | 530 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 531 | * This method takes in distance to travel and adjust to move forward * |
JesiMiranda | 35:5a2fed4c2e9f | 532 | **************************************************************************/ |
jvfausto | 19:71a6621ee5c3 | 533 | void Wheelchair::pid_forward(double mm) |
jvfausto | 17:7f3b69300bb6 | 534 | { |
jvfausto | 21:3489cffad196 | 535 | mm -= 20; // Makes sure distance does not overshoot |
jvfausto | 21:3489cffad196 | 536 | Input = 0; // Initializes input to zero: Test latter w/o |
jvfausto | 21:3489cffad196 | 537 | wheel->reset(); // Resets encoders so that they start at 0 |
JesiMiranda | 35:5a2fed4c2e9f | 538 | |
jvfausto | 17:7f3b69300bb6 | 539 | out->printf("pid foward\r\n"); |
JesiMiranda | 35:5a2fed4c2e9f | 540 | |
jvfausto | 21:3489cffad196 | 541 | double tempor; // Initializes Temporary variable for x input |
jvfausto | 21:3489cffad196 | 542 | Setpoint = mm; // Initializes the setpoint to desired value |
JesiMiranda | 35:5a2fed4c2e9f | 543 | |
jvfausto | 21:3489cffad196 | 544 | myPIDDistance.SetTunings(5.5,0, 0.0015); // Sets constants for P and D |
JesiMiranda | 35:5a2fed4c2e9f | 545 | myPIDDistance.SetOutputLimits(0,high-def-.15); // Limit set to difference between high and def |
jvfausto | 21:3489cffad196 | 546 | myPIDDistance.SetControllerDirection(DIRECT); // PID mode: Direct |
JesiMiranda | 35:5a2fed4c2e9f | 547 | |
jvfausto | 21:3489cffad196 | 548 | y->write(def+offset); // Update y to make chair stationary |
JesiMiranda | 35:5a2fed4c2e9f | 549 | |
jvfausto | 21:3489cffad196 | 550 | /* Chair stops moving when Setpoint is reached */ |
JesiMiranda | 35:5a2fed4c2e9f | 551 | while(Input < Setpoint) { |
JesiMiranda | 35:5a2fed4c2e9f | 552 | |
JesiMiranda | 35:5a2fed4c2e9f | 553 | if(out->readable()) { // Emergency Break |
jvfausto | 21:3489cffad196 | 554 | break; |
jvfausto | 21:3489cffad196 | 555 | } |
jvfausto | 17:7f3b69300bb6 | 556 | |
jvfausto | 21:3489cffad196 | 557 | Input = wheel->getDistance(53.975); // Gets distance from Encoder into PID |
jvfausto | 21:3489cffad196 | 558 | wait(.05); // Slight Delay: *****Test without |
jvfausto | 21:3489cffad196 | 559 | myPIDDistance.Compute(); // Compute distance traveled by chair |
JesiMiranda | 35:5a2fed4c2e9f | 560 | |
JesiMiranda | 35:5a2fed4c2e9f | 561 | tempor = Output + def; // Temporary output variable |
jvfausto | 21:3489cffad196 | 562 | x->write(tempor); // Update x sent to chair |
jvfausto | 17:7f3b69300bb6 | 563 | |
jvfausto | 21:3489cffad196 | 564 | /* Prints to serial monitor the distance traveled by chair */ |
jvfausto | 19:71a6621ee5c3 | 565 | out->printf("distance %f\r\n", Input); |
JesiMiranda | 35:5a2fed4c2e9f | 566 | } |
JesiMiranda | 35:5a2fed4c2e9f | 567 | |
JesiMiranda | 35:5a2fed4c2e9f | 568 | } |
jvfausto | 21:3489cffad196 | 569 | |
JesiMiranda | 35:5a2fed4c2e9f | 570 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 571 | * This method returns the relative angular position of chair * |
JesiMiranda | 35:5a2fed4c2e9f | 572 | **************************************************************************/ |
jvfausto | 21:3489cffad196 | 573 | double Wheelchair::getTwistZ() |
jvfausto | 17:7f3b69300bb6 | 574 | { |
jvfausto | 21:3489cffad196 | 575 | return imu->gyro_z(); |
JesiMiranda | 35:5a2fed4c2e9f | 576 | } |
jvfausto | 18:663b6d693252 | 577 | |
JesiMiranda | 35:5a2fed4c2e9f | 578 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 579 | * This method computes the relative angle for Twist message in ROS * |
JesiMiranda | 35:5a2fed4c2e9f | 580 | **************************************************************************/ |
jvfausto | 21:3489cffad196 | 581 | void Wheelchair::pid_twistA() |
jvfausto | 21:3489cffad196 | 582 | { |
jvfausto | 21:3489cffad196 | 583 | /* Initialize variables for angle and update x,y sent to chair */ |
jvfausto | 21:3489cffad196 | 584 | char c; |
jvfausto | 21:3489cffad196 | 585 | double temporA = def; |
JesiMiranda | 35:5a2fed4c2e9f | 586 | y->write(def); |
JesiMiranda | 35:5a2fed4c2e9f | 587 | x->write(def); |
JesiMiranda | 35:5a2fed4c2e9f | 588 | |
jvfausto | 21:3489cffad196 | 589 | PIDAngularV.SetTunings(.00015,0, 0.00); // Sets the constants for P and D |
jvfausto | 21:3489cffad196 | 590 | PIDAngularV.SetOutputLimits(-.1, .1); // Limit set to be in range specified |
jvfausto | 21:3489cffad196 | 591 | PIDAngularV.SetControllerDirection(DIRECT); // PID mode: Direct |
JesiMiranda | 35:5a2fed4c2e9f | 592 | |
jvfausto | 21:3489cffad196 | 593 | /* Computes angular position of wheelchair while turning */ |
JesiMiranda | 35:5a2fed4c2e9f | 594 | while(1) { |
jvfausto | 21:3489cffad196 | 595 | yDesired = angularV; |
JesiMiranda | 35:5a2fed4c2e9f | 596 | |
jvfausto | 21:3489cffad196 | 597 | /* Update and set all variable so that the chair is stationary |
jvfausto | 21:3489cffad196 | 598 | * if the desired angle is zero |
jvfausto | 21:3489cffad196 | 599 | */ |
JesiMiranda | 35:5a2fed4c2e9f | 600 | if(yDesired == 0) { |
jvfausto | 21:3489cffad196 | 601 | x->write(def); |
jvfausto | 21:3489cffad196 | 602 | y->write(def); |
jvfausto | 21:3489cffad196 | 603 | yDesired = 0; |
ryanlin97 | 8:381a4ec3fef8 | 604 | return; |
ryanlin97 | 7:5e38d43fbce3 | 605 | } |
JesiMiranda | 35:5a2fed4c2e9f | 606 | |
jvfausto | 21:3489cffad196 | 607 | /* Continuously updates with current angle measured by IMU */ |
JesiMiranda | 35:5a2fed4c2e9f | 608 | yIn = imu->gyro_z(); |
jvfausto | 21:3489cffad196 | 609 | PIDAngularV.Compute(); |
jvfausto | 21:3489cffad196 | 610 | temporA += yOut; // Temporary value with the voltage output |
jvfausto | 21:3489cffad196 | 611 | y->write(temporA); // Update y sent to chair |
JesiMiranda | 35:5a2fed4c2e9f | 612 | |
jvfausto | 21:3489cffad196 | 613 | //out->printf("temporA: %f, yDesired %f, angle: %f\r\n", temporA, yDesired, imu->gyro_z()); |
jvfausto | 21:3489cffad196 | 614 | wait(.05); // Small delay (milliseconds) |
ryanlin97 | 6:0cd57bdd8fbc | 615 | } |
JesiMiranda | 35:5a2fed4c2e9f | 616 | |
JesiMiranda | 35:5a2fed4c2e9f | 617 | } |
ryanlin97 | 6:0cd57bdd8fbc | 618 | |
JesiMiranda | 35:5a2fed4c2e9f | 619 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 620 | * This method computes the relative velocity for Twist message in ROS * |
JesiMiranda | 35:5a2fed4c2e9f | 621 | **************************************************************************/ |
jvfausto | 21:3489cffad196 | 622 | void Wheelchair::pid_twistV() |
ryanlin97 | 6:0cd57bdd8fbc | 623 | { |
jvfausto | 21:3489cffad196 | 624 | /* Initializes variables as default */ |
jvfausto | 21:3489cffad196 | 625 | double temporV = def; |
jvfausto | 26:662693bd7f31 | 626 | double temporS = def+offset; |
jvfausto | 21:3489cffad196 | 627 | vDesiredS = 0; |
jvfausto | 21:3489cffad196 | 628 | x->write(def); |
jvfausto | 21:3489cffad196 | 629 | y->write(def); |
jvfausto | 21:3489cffad196 | 630 | wheel->reset(); // Resets the encoders |
jvfausto | 21:3489cffad196 | 631 | /* Sets the constants for P and D */ |
JesiMiranda | 35:5a2fed4c2e9f | 632 | PIDVelosity.SetTunings(.0005,0, 0.00); |
JesiMiranda | 35:5a2fed4c2e9f | 633 | PIDSlaveV.SetTunings(.005,0.000001, 0.000001); |
JesiMiranda | 35:5a2fed4c2e9f | 634 | |
jvfausto | 21:3489cffad196 | 635 | /* Limits to the range specified */ |
JesiMiranda | 35:5a2fed4c2e9f | 636 | PIDVelosity.SetOutputLimits(-.005, .005); |
JesiMiranda | 35:5a2fed4c2e9f | 637 | PIDSlaveV.SetOutputLimits(-.002, .002); |
JesiMiranda | 35:5a2fed4c2e9f | 638 | |
jvfausto | 21:3489cffad196 | 639 | /* PID mode: Direct */ |
JesiMiranda | 35:5a2fed4c2e9f | 640 | PIDVelosity.SetControllerDirection(DIRECT); |
JesiMiranda | 35:5a2fed4c2e9f | 641 | PIDSlaveV.SetControllerDirection(DIRECT); |
JesiMiranda | 35:5a2fed4c2e9f | 642 | |
JesiMiranda | 35:5a2fed4c2e9f | 643 | while(1) { |
jvfausto | 21:3489cffad196 | 644 | linearV = .7; |
jvfausto | 21:3489cffad196 | 645 | test1 = linearV*100; |
jvfausto | 21:3489cffad196 | 646 | vel = curr_vel; |
jvfausto | 21:3489cffad196 | 647 | vDesired = linearV*100; |
jvfausto | 21:3489cffad196 | 648 | if(out->readable()) |
jvfausto | 21:3489cffad196 | 649 | return; |
JesiMiranda | 35:5a2fed4c2e9f | 650 | /* Update and set all variable so that the chair is stationary |
JesiMiranda | 35:5a2fed4c2e9f | 651 | * if the velocity is zero |
JesiMiranda | 35:5a2fed4c2e9f | 652 | */ |
JesiMiranda | 35:5a2fed4c2e9f | 653 | if(linearV == 0) { |
jvfausto | 21:3489cffad196 | 654 | x->write(def); |
jvfausto | 21:3489cffad196 | 655 | y->write(def); |
ryanlin97 | 8:381a4ec3fef8 | 656 | |
jvfausto | 21:3489cffad196 | 657 | vel = 0; |
jvfausto | 21:3489cffad196 | 658 | vDesired = 0; |
jvfausto | 21:3489cffad196 | 659 | dist_old = 0; |
ryanlin97 | 8:381a4ec3fef8 | 660 | return; |
ryanlin97 | 8:381a4ec3fef8 | 661 | } |
JesiMiranda | 35:5a2fed4c2e9f | 662 | |
JesiMiranda | 35:5a2fed4c2e9f | 663 | if(vDesired >= 0) { |
jvfausto | 21:3489cffad196 | 664 | PIDVelosity.SetTunings(.000004,0, 0.00); // Sets the constants for P and D |
jvfausto | 21:3489cffad196 | 665 | PIDVelosity.SetOutputLimits(-.002, .002); // Limits to the range specified |
JesiMiranda | 35:5a2fed4c2e9f | 666 | } else { |
jvfausto | 21:3489cffad196 | 667 | PIDVelosity.SetTunings(.000015,0, 0.00); // Sets the constants for P and D |
jvfausto | 21:3489cffad196 | 668 | PIDVelosity.SetOutputLimits(-.0005, .0005); // Limits to range specified |
JesiMiranda | 35:5a2fed4c2e9f | 669 | } |
JesiMiranda | 35:5a2fed4c2e9f | 670 | |
jvfausto | 21:3489cffad196 | 671 | /* Sets maximum value of variable to 1 */ |
JesiMiranda | 35:5a2fed4c2e9f | 672 | if(temporV >= 1.5) { |
jvfausto | 21:3489cffad196 | 673 | temporV = 1.5; |
ryanlin97 | 8:381a4ec3fef8 | 674 | } |
jvfausto | 21:3489cffad196 | 675 | /* Scales and makes some adjustments to velocity */ |
jvfausto | 21:3489cffad196 | 676 | vIn = curr_vel*100; |
jvfausto | 21:3489cffad196 | 677 | vInS = curr_vel-curr_velS; |
jvfausto | 21:3489cffad196 | 678 | PIDVelosity.Compute(); |
jvfausto | 21:3489cffad196 | 679 | PIDSlaveV.Compute(); |
JesiMiranda | 35:5a2fed4c2e9f | 680 | if(forwardSafety == 0) { |
JesiMiranda | 35:5a2fed4c2e9f | 681 | temporV += vOut; |
JesiMiranda | 35:5a2fed4c2e9f | 682 | temporS += vOutS; |
JesiMiranda | 35:5a2fed4c2e9f | 683 | |
JesiMiranda | 35:5a2fed4c2e9f | 684 | /* Updates x,y sent to Wheelchair and for Odometry message in ROS */ |
JesiMiranda | 35:5a2fed4c2e9f | 685 | x->write(temporV); |
JesiMiranda | 35:5a2fed4c2e9f | 686 | test2 = temporV; |
JesiMiranda | 35:5a2fed4c2e9f | 687 | y->write(temporS); |
JesiMiranda | 35:5a2fed4c2e9f | 688 | } else { |
jvfausto | 21:3489cffad196 | 689 | x->write(def); |
jvfausto | 21:3489cffad196 | 690 | y->write(def); |
jvfausto | 21:3489cffad196 | 691 | } |
jvfausto | 21:3489cffad196 | 692 | //out->printf("Velosity: %f, Velosity2: %f, temporV %f, temporS %f\r\n", curr_vel, curr_velS, temporV, temporS); |
jvfausto | 21:3489cffad196 | 693 | Wheelchair::odomMsg(); |
jvfausto | 21:3489cffad196 | 694 | wait(.01); // Small delay (milliseconds) |
ryanlin97 | 6:0cd57bdd8fbc | 695 | } |
ryanlin97 | 11:d14a1f7f1297 | 696 | } |
ryanlin97 | 11:d14a1f7f1297 | 697 | |
JesiMiranda | 35:5a2fed4c2e9f | 698 | /************************************************************************* |
JesiMiranda | 35:5a2fed4c2e9f | 699 | * This method calculates the relative position of the chair everytime the* |
JesiMiranda | 35:5a2fed4c2e9f | 700 | * encoders reset by setting its old position as the origin to calculate * |
JesiMiranda | 35:5a2fed4c2e9f | 701 | * the new position * |
JesiMiranda | 35:5a2fed4c2e9f | 702 | **************************************************************************/ |
jvfausto | 21:3489cffad196 | 703 | void Wheelchair::odomMsg() |
ryanlin97 | 11:d14a1f7f1297 | 704 | { |
jvfausto | 21:3489cffad196 | 705 | double dist_new = curr_pos; |
jvfausto | 21:3489cffad196 | 706 | double dist = dist_new-dist_old; |
jvfausto | 21:3489cffad196 | 707 | double temp_x = dist*sin(z_angular*3.14159/180); |
jvfausto | 21:3489cffad196 | 708 | double temp_y = dist*cos(z_angular*3.14159/180); |
JesiMiranda | 35:5a2fed4c2e9f | 709 | |
jvfausto | 21:3489cffad196 | 710 | x_position += temp_x; |
jvfausto | 21:3489cffad196 | 711 | y_position += temp_y; |
JesiMiranda | 35:5a2fed4c2e9f | 712 | |
jvfausto | 21:3489cffad196 | 713 | dist_old = dist_new; |
JesiMiranda | 35:5a2fed4c2e9f | 714 | } |
jvfausto | 21:3489cffad196 | 715 | |
JesiMiranda | 35:5a2fed4c2e9f | 716 | /************************************************************************** |
JesiMiranda | 35:5a2fed4c2e9f | 717 | * This method prints the Odometry message to the serial monitor * |
JesiMiranda | 35:5a2fed4c2e9f | 718 | ***************************************************************************/ |
JesiMiranda | 35:5a2fed4c2e9f | 719 | void Wheelchair::showOdom() |
JesiMiranda | 35:5a2fed4c2e9f | 720 | { |
JesiMiranda | 35:5a2fed4c2e9f | 721 | out->printf("x %f, y %f, angle %f", x_position, y_position, z_angular); |
JesiMiranda | 35:5a2fed4c2e9f | 722 | } |
jvfausto | 21:3489cffad196 | 723 | |
JesiMiranda | 35:5a2fed4c2e9f | 724 | /************************************************************************** |
JesiMiranda | 35:5a2fed4c2e9f | 725 | * This method returns the approximate distance based on the wheel diameter* |
JesiMiranda | 35:5a2fed4c2e9f | 726 | ***************************************************************************/ |
jvfausto | 21:3489cffad196 | 727 | float Wheelchair::getDistance() |
jvfausto | 21:3489cffad196 | 728 | { |
jvfausto | 21:3489cffad196 | 729 | return wheel->getDistance(Diameter); |
ryanlin97 | 6:0cd57bdd8fbc | 730 | } |
ryanlin97 | 8:381a4ec3fef8 | 731 | |
JesiMiranda | 35:5a2fed4c2e9f | 732 | /************************************************************************** |
JesiMiranda | 35:5a2fed4c2e9f | 733 | * This method resets the Encoder's * |
JesiMiranda | 35:5a2fed4c2e9f | 734 | ***************************************************************************/ |
jvfausto | 21:3489cffad196 | 735 | void Wheelchair::resetDistance() |
jvfausto | 21:3489cffad196 | 736 | { |
ryanlin97 | 12:921488918749 | 737 | wheel->reset(); |
jvfausto | 21:3489cffad196 | 738 | } |
jvfausto | 21:3489cffad196 | 739 | |
JesiMiranda | 35:5a2fed4c2e9f | 740 | /*---------------------------------------------------------------------------------------------------*/ |
JesiMiranda | 35:5a2fed4c2e9f | 741 | /*---------------------------------------------------------------------------------------------------*/ |
JesiMiranda | 35:5a2fed4c2e9f | 742 | /*---------------------------------------------------------------------------------------------------*/ |
JesiMiranda | 35:5a2fed4c2e9f | 743 | /*---------------------------------------------------------------------------------------------------*/ |
JesiMiranda | 35:5a2fed4c2e9f | 744 | /*---------------------------------------------------------------------------------------------------*/ |
jvfausto | 21:3489cffad196 | 745 | |
JesiMiranda | 35:5a2fed4c2e9f | 746 | /*Predetermined paths For Demmo*/ |
JesiMiranda | 35:5a2fed4c2e9f | 747 | void Wheelchair::desk() |
jvfausto | 21:3489cffad196 | 748 | { |
jvfausto | 19:71a6621ee5c3 | 749 | Wheelchair::pid_forward(5461); |
jvfausto | 19:71a6621ee5c3 | 750 | Wheelchair::pid_right(87); |
jvfausto | 19:71a6621ee5c3 | 751 | Wheelchair::pid_forward(3658); |
jvfausto | 19:71a6621ee5c3 | 752 | Wheelchair::pid_right(87); |
jvfausto | 19:71a6621ee5c3 | 753 | Wheelchair::pid_forward(3658); |
jvfausto | 21:3489cffad196 | 754 | } |
JesiMiranda | 35:5a2fed4c2e9f | 755 | |
JesiMiranda | 35:5a2fed4c2e9f | 756 | void Wheelchair::kitchen() |
jvfausto | 21:3489cffad196 | 757 | { |
jvfausto | 19:71a6621ee5c3 | 758 | Wheelchair::pid_forward(5461); |
jvfausto | 20:f42db4ae16f0 | 759 | Wheelchair::pid_right(87); |
jvfausto | 19:71a6621ee5c3 | 760 | Wheelchair::pid_forward(3658); |
jvfausto | 19:71a6621ee5c3 | 761 | Wheelchair::pid_left(90); |
jvfausto | 19:71a6621ee5c3 | 762 | Wheelchair::pid_forward(305); |
jvfausto | 21:3489cffad196 | 763 | } |
JesiMiranda | 35:5a2fed4c2e9f | 764 | |
jvfausto | 21:3489cffad196 | 765 | void Wheelchair::desk_to_kitchen() |
jvfausto | 21:3489cffad196 | 766 | { |
jvfausto | 19:71a6621ee5c3 | 767 | Wheelchair::pid_right(180); |
jvfausto | 19:71a6621ee5c3 | 768 | Wheelchair::pid_forward(3700); |
jvfausto | 21:3489cffad196 | 769 | } |