Affordable Smart Wheelchair / wheelchaircontrol8

Updated references from MPU6050 to BNO080

Dependencies:   QEI2 PID Watchdog VL53L1X_Filter BNOWrapper ros_lib_kinetic

Dependents:   Version1-8

wheelchair.h@15:ddd61f6dc5ab, 2018-08-13 (annotated)

Committer:
ryanlin97
Date:
Mon Aug 13 21:33:09 2018 +0000
Revision:
15:ddd61f6dc5ab
Parent:
14:9caca9fde9b0
Child:
17:7f3b69300bb6
changed for ros;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 0:fc0c4a184482 1 #ifndef wheelchair
ryanlin97 0:fc0c4a184482 2 #define wheelchair
ryanlin97 0:fc0c4a184482 3
ryanlin97 11:d14a1f7f1297 4 #include "chair_BNO055.h"
ryanlin97 12:921488918749 5 #include "PID_v1.h"
ryanlin97 12:921488918749 6 #include "QEI.h"
ryanlin97 15:ddd61f6dc5ab 7 #include <ros.h>
ryanlin97 15:ddd61f6dc5ab 8 #include <geometry_msgs/Twist.h>
ryanlin97 12:921488918749 9
ryanlin97 11:d14a1f7f1297 10 //#include "chair_MPU9250.h"
ryanlin97 0:fc0c4a184482 11
ryanlin97 11:d14a1f7f1297 12 #define turn_precision 10
ryanlin97 0:fc0c4a184482 13 #define def (2.5f/3.3f)
ryanlin97 12:921488918749 14 #define high 3.3f/3.3f
ryanlin97 3:a5e71bfdb492 15 #define offset .02f
ryanlin97 3:a5e71bfdb492 16 #define low (1.7f/3.3f)
ryanlin97 10:e5463c11e0a0 17 #define process .1
ryanlin97 14:9caca9fde9b0 18
ryanlin97 14:9caca9fde9b0 19 /* for big mbed board
ryanlin97 3:a5e71bfdb492 20 #define xDir D12 //top right two pins
ryanlin97 0:fc0c4a184482 21 #define yDir D13 //top left two pins
ryanlin97 12:921488918749 22 #define Encoder1 D0
ryanlin97 12:921488918749 23 #define Encoder2 D1
ryanlin97 14:9caca9fde9b0 24 */
ryanlin97 14:9caca9fde9b0 25
ryanlin97 14:9caca9fde9b0 26 //for small mbed board
ryanlin97 14:9caca9fde9b0 27 #define xDir D9
ryanlin97 14:9caca9fde9b0 28 #define yDir D10
ryanlin97 14:9caca9fde9b0 29 #define Encoder1 D7
ryanlin97 14:9caca9fde9b0 30 #define Encoder2 D8
ryanlin97 14:9caca9fde9b0 31
ryanlin97 12:921488918749 32 #define EncoderReadRate 1200
ryanlin97 12:921488918749 33 #define Diameter 31.75
ryanlin97 12:921488918749 34 /** Wheelchair class
ryanlin97 12:921488918749 35 * Used for controlling the smart wheelchair
ryanlin97 12:921488918749 36 */
ryanlin97 0:fc0c4a184482 37 class Wheelchair
ryanlin97 0:fc0c4a184482 38 {
ryanlin97 0:fc0c4a184482 39 public:
ryanlin97 12:921488918749 40 /** Create Wheelchair Object with x,y pin for analog dc output
ryanlin97 12:921488918749 41 * serial for printout, and timer
ryanlin97 12:921488918749 42 */
ryanlin97 7:5e38d43fbce3 43 Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time);
ryanlin97 12:921488918749 44
ryanlin97 12:921488918749 45 /** move using the joystick */
ryanlin97 3:a5e71bfdb492 46 void move(float x_coor, float y_coor);
ryanlin97 12:921488918749 47
ryanlin97 12:921488918749 48 /* turn right a certain amount of degrees (overshoots)*/
ryanlin97 11:d14a1f7f1297 49 double turn_right(int deg);
ryanlin97 12:921488918749 50
ryanlin97 12:921488918749 51 /* turn left a certain amount of degrees (overshoots)*/
ryanlin97 11:d14a1f7f1297 52 double turn_left(int deg);
ryanlin97 12:921488918749 53
ryanlin97 12:921488918749 54 /* turn right a certain amount of degrees using PID*/
ryanlin97 12:921488918749 55 void pid_right(int deg);
ryanlin97 12:921488918749 56
ryanlin97 12:921488918749 57 /* turn left a certain amount of degrees using PID*/
ryanlin97 12:921488918749 58 void pid_left(int deg);
ryanlin97 12:921488918749 59
ryanlin97 12:921488918749 60 /* turning function that turns any direction */
ryanlin97 11:d14a1f7f1297 61 void turn(int deg);
ryanlin97 12:921488918749 62
ryanlin97 12:921488918749 63 /* drive the wheelchair forward */
ryanlin97 1:c0beadca1617 64 void forward();
ryanlin97 12:921488918749 65
ryanlin97 12:921488918749 66 /* drive the wheelchair backward*/
ryanlin97 1:c0beadca1617 67 void backward();
ryanlin97 12:921488918749 68
ryanlin97 12:921488918749 69 /* turn the wheelchair right*/
ryanlin97 1:c0beadca1617 70 void right();
ryanlin97 12:921488918749 71
ryanlin97 12:921488918749 72 /* turn the wheelchair left*/
ryanlin97 1:c0beadca1617 73 void left();
ryanlin97 12:921488918749 74
ryanlin97 12:921488918749 75 /* stop the wheelchair*/
ryanlin97 1:c0beadca1617 76 void stop();
ryanlin97 12:921488918749 77
ryanlin97 12:921488918749 78 /* function to get imu data*/
ryanlin97 11:d14a1f7f1297 79 void compass_thread();
ryanlin97 12:921488918749 80 float getDistance();
ryanlin97 12:921488918749 81 void resetDistance();
ryanlin97 12:921488918749 82 void pid_turn(int deg);
ryanlin97 12:921488918749 83
ryanlin97 1:c0beadca1617 84 private:
ryanlin97 3:a5e71bfdb492 85 PwmOut* x;
ryanlin97 3:a5e71bfdb492 86 PwmOut* y;
ryanlin97 12:921488918749 87 chair_BNO055* imu;
ryanlin97 7:5e38d43fbce3 88 Serial* out;
ryanlin97 11:d14a1f7f1297 89 Timer* ti;
ryanlin97 12:921488918749 90 QEI* wheel;
ryanlin97 1:c0beadca1617 91
ryanlin97 0:fc0c4a184482 92 };
ryanlin97 0:fc0c4a184482 93 #endif