Revision 42:62c49ad06707, committed 2019-08-07

Comitter:

t1jain

Date:

Wed Aug 07 19:01:17 2019 +0000

Parent:

41:1a687bcf4b0a

Commit message:

Changed references from MPU6050 to BNO080

Changed in this revision

diff -r 1a687bcf4b0a -r 62c49ad06707 BNOWrapper.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNOWrapper.lib	Wed Aug 07 19:01:17 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/Affordable-Smart-Wheelchair/code/BNOWrapper/#f013530d8358

diff -r 1a687bcf4b0a -r 62c49ad06707 IMU6050Ver11.lib
--- a/IMU6050Ver11.lib	Thu Jul 11 20:58:26 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/teams/Affordable-Smart-Wheelchair/code/IMU6050Ver11/#f2e2692762ac

diff -r 1a687bcf4b0a -r 62c49ad06707 wheelchair.cpp
--- a/wheelchair.cpp	Thu Jul 11 20:58:26 2019 +0000
+++ b/wheelchair.cpp	Wed Aug 07 19:01:17 2019 +0000
@@ -113,7 +113,7 @@
     outlierToF[0] = LFTStats.mean() + 2*LFTStats.stdev();
     outlierToF[1] = RFTStats.mean() + 2*RFTStats.stdev();
 
-    for(int i = 0; i < 2; i++) {                             // Reads from the ToF Sensors
+    for(int i = 0; i < 2; i++) {        // Reads from the ToF Sensors
         runningAverage[i] = ((runningAverage[i]*(4) + ToFV[(i*3)+1]) / 5);
     }
 
@@ -155,7 +155,7 @@
     outlierToF[2] = LBTStats.mean() + 2*LBTStats.stdev();
     outlierToF[3] = RBTStats.mean() + 2*RBTStats.stdev();
 
-    for(int i = 2; i < 4; i++) {                             // Reads from the ToF Sensors
+    for(int i = 2; i < 4; i++) {        // Reads from the ToF Sensors
         runningAverage[i] = ((runningAverage[i]*(4) + ToFV[(i*3)+1]) / 5);
     }
 
@@ -178,6 +178,7 @@
         if(x->read() > def) {
             x->write(def);
             backwardSafety = 1;          // You cannot move backwards
+            // Stop moving backwards
         }
     }
 
@@ -192,10 +193,10 @@
     ////////////////////////////////////////////////////////////////////////////
 
     /*Side Tof begin*/
-    int sensor3 = ToFV[2]; //front left
-    int sensor6 = ToFV[5]; //front right
-    int sensor9 = ToFV[8]; //back
-    int sensor12 = ToFV[11]; //back
+    int sensor3 = ToFV[2];      //front left
+    int sensor6 = ToFV[5];      //front right
+    int sensor9 = ToFV[8];      //back
+    int sensor12 = ToFV[11];    //back
     
     double currAngularVelocity = imu->gyro_x(); //Current angular velocity from IMU
     double angle = imu->yaw() * 3.14159 / 180; //from IMU, in rads
@@ -298,7 +299,7 @@
     /* Initializes IMU Library */
     out = pc;                                                                           // "out" is called for serial monitor
     out->printf("on\r\n");
-    imu = new IMUWheelchair(pc, time);
+    imu = new BNO080Wheelchair (pc, D2, D4, D13, D15, 0x4b, 100000);                    // THIS NEEDS TO BE REVISED SO THAT PIN NAMES ARE CALLED
     Wheelchair::stop();                                                                 // Wheelchair is initially stationary
     imu->setup();                                                                       // turns on the IMU
     wheelS = qeiS;                                                                      // "wheel" is called for encoder

diff -r 1a687bcf4b0a -r 62c49ad06707 wheelchair.h
--- a/wheelchair.h	Thu Jul 11 20:58:26 2019 +0000
+++ b/wheelchair.h	Wed Aug 07 19:01:17 2019 +0000
@@ -3,7 +3,7 @@
 /*************************************************************************
 *            Importing libraries into wheelchair.h                       *
 **************************************************************************/
-#include "IMUWheelchair.h"
+#include "BNO080Wheelchair.h"
 #include "PID.h"
 #include "QEI.h"
 #include "VL53L1X.h"
@@ -240,7 +240,7 @@
 
     DigitalIn* e_button;                // Pointer to e_button
 
-    IMUWheelchair* imu;                 // Pointer to IMU
+    BNO080Wheelchair* imu;                 // Pointer to IMU
     Serial* out;                        // Pointer to Serial Monitor
     Timer* ti;                          // Pointer to the timer
     QEI* wheel;                         // Pointer to encoder