Affordable Smart Wheelchair / Mbed OS wheelchaircontrolrealtime2

Integrated, working file (e-button and watchdog not integrated yet)

Dependencies:   Watchdog

main.cpp@10:b5f6337c3a20, 2019-06-26 (annotated)

Committer:
JesiMiranda
Date:
Wed Jun 26 04:21:41 2019 +0000
Revision:
10:b5f6337c3a20
Parent:
9:ca11e4db63a7 
Integrated working file (e-button, and watchdog not integrated yet)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 0:7e6b349182bc 1 #include "wheelchair.h"
ryanlin97 0:7e6b349182bc 2
JesiMiranda 10:b5f6337c3a20 3
jvfausto 9:ca11e4db63a7 4 QEI wheel (D10, D9, NC, 1200); //Initializes right encoder
jvfausto 9:ca11e4db63a7 5 DigitalIn pt3(D10, PullUp); //Pull up resistors to read analog signals into digital signals
jvfausto 9:ca11e4db63a7 6 DigitalIn pt4(D9, PullUp);
jvfausto 9:ca11e4db63a7 7
JesiMiranda 10:b5f6337c3a20 8
jvfausto 9:ca11e4db63a7 9 /*added*/
jvfausto 9:ca11e4db63a7 10 //DigitalIn e_button(D4); //emergency button will start at HIGH
jvfausto 8:db780b392bae 11
jvfausto 9:ca11e4db63a7 12 QEI wheelS (D7, D8, NC, 1200); //Initializes Left encoder
jvfausto 9:ca11e4db63a7 13 DigitalIn pt1(D7, PullUp); //Pull up resistors to read analog signals into digital signals
jvfausto 9:ca11e4db63a7 14 DigitalIn pt2(D8, PullUp);
jvfausto 8:db780b392bae 15
jvfausto 9:ca11e4db63a7 16 int max_velocity;
jvfausto 9:ca11e4db63a7 17 //Timer testAccT;
jvfausto 9:ca11e4db63a7 18
jvfausto 9:ca11e4db63a7 19 AnalogIn x(A0); //Initializes analog axis for the joystick
ryanlin97 0:7e6b349182bc 20 AnalogIn y(A1);
ryanlin97 0:7e6b349182bc 21
jvfausto 9:ca11e4db63a7 22 DigitalOut up(D12); //Turn up speed mode for joystick
jvfausto 9:ca11e4db63a7 23 DigitalOut down(D13); //Turn down speed mode for joystick
jvfausto 9:ca11e4db63a7 24 DigitalOut on(D14); //Turn Wheelchair On
jvfausto 9:ca11e4db63a7 25 DigitalOut off(D15); //Turn Wheelchair Off
jvfausto 9:ca11e4db63a7 26 bool manual = false; //Turns chair joystic to automatic and viceverza
jvfausto 9:ca11e4db63a7 27
jvfausto 9:ca11e4db63a7 28 Serial pc(USBTX, USBRX, 57600); //Serial Monitor
ryanlin97 0:7e6b349182bc 29
jvfausto 9:ca11e4db63a7 30 VL53L1X sensor1(PB_11, PB_10, D0); //initializes ToF sensors
jvfausto 9:ca11e4db63a7 31 VL53L1X sensor2(PB_11, PB_10, D1);
jvfausto 9:ca11e4db63a7 32 VL53L1X sensor3(PB_11, PB_10, D2);
jvfausto 9:ca11e4db63a7 33 VL53L1X sensor4(PB_11, PB_10, D3);
jvfausto 9:ca11e4db63a7 34 VL53L1X sensor5(PB_11, PB_10, D4);
jvfausto 9:ca11e4db63a7 35 VL53L1X sensor6(PB_11, PB_10, D5);
jvfausto 9:ca11e4db63a7 36 VL53L1X sensor7(PB_11, PB_10, PE_14);
jvfausto 9:ca11e4db63a7 37 VL53L1X sensor8(PB_11, PB_10, PE_12);
jvfausto 9:ca11e4db63a7 38 VL53L1X sensor9(PB_11, PB_10, PE_10);
jvfausto 9:ca11e4db63a7 39 VL53L1X sensor10(PB_11, PB_10, PE_15);
jvfausto 9:ca11e4db63a7 40 VL53L1X sensor11(PB_11, PB_10, D6);
jvfausto 9:ca11e4db63a7 41 VL53L1X sensor12(PB_11, PB_10, D11);
ryanlin97 5:90bf5f0d86e9 42
jvfausto 9:ca11e4db63a7 43 VL53L1X* ToF[12] = {&sensor1, &sensor2, &sensor3, &sensor4, &sensor5, &sensor6,
jvfausto 9:ca11e4db63a7 44 &sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12}; //puts ToF sensor pointers into an array
jvfausto 9:ca11e4db63a7 45 VL53L1X** ToFT = ToF;
ryanlin97 0:7e6b349182bc 46
jvfausto 9:ca11e4db63a7 47 Timer t; //Initialize time object t
jvfausto 9:ca11e4db63a7 48 EventQueue queue; //Class to organize threads
jvfausto 9:ca11e4db63a7 49 Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS, ToFT); //Initialize wheelchair object
jvfausto 9:ca11e4db63a7 50 Thread compass; //Thread for compass
jvfausto 9:ca11e4db63a7 51 Thread velocity; //Thread for velosity
jvfausto 9:ca11e4db63a7 52 Thread assistSafe; //thread for safety stuff
ryanlin97 0:7e6b349182bc 53
ryanlin97 5:90bf5f0d86e9 54
ryanlin97 0:7e6b349182bc 55 int main(void)
jvfausto 9:ca11e4db63a7 56 {
jvfausto 9:ca11e4db63a7 57 /* nh.initNode();
jvfausto 9:ca11e4db63a7 58 nh.advertise(chatter);
jvfausto 9:ca11e4db63a7 59 nh.advertise(chatter2);
jvfausto 9:ca11e4db63a7 60 nh.subscribe(sub);*/
jvfausto 9:ca11e4db63a7 61 //testAccT.start();
jvfausto 9:ca11e4db63a7 62 pc.printf("before starting\r\n");
jvfausto 9:ca11e4db63a7 63 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); //Sets up sampling frequency of the compass_thread
jvfausto 9:ca11e4db63a7 64 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); //Sets up sampling frequency of the velosity_thread
jvfausto 9:ca11e4db63a7 65 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::assistSafe_thread); //Sets up sampling frequency of the velosity_thread
jvfausto 9:ca11e4db63a7 66 //queue.call_every(200, rosCom_thread); //Sets up sampling frequency of the velosity_thread
ryanlin97 0:7e6b349182bc 67 t.reset();
jvfausto 9:ca11e4db63a7 68 compass.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the compass thread
jvfausto 9:ca11e4db63a7 69 velocity.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
jvfausto 9:ca11e4db63a7 70 assistSafe.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
jvfausto 9:ca11e4db63a7 71 //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
JesiMiranda 10:b5f6337c3a20 72 pc.printf("After starting\r\n");
jvfausto 9:ca11e4db63a7 73
jvfausto 9:ca11e4db63a7 74 //added
jvfausto 9:ca11e4db63a7 75 // int emerg_button = e_button;
jvfausto 9:ca11e4db63a7 76
jvfausto 9:ca11e4db63a7 77 int set = 0;
ryanlin97 0:7e6b349182bc 78 while(1) {
ryanlin97 0:7e6b349182bc 79 if( pc.readable()) {
jvfausto 9:ca11e4db63a7 80 set = 1;
jvfausto 9:ca11e4db63a7 81 char c = pc.getc(); //Read the instruction sent
ryanlin97 0:7e6b349182bc 82 if( c == 'w') {
jvfausto 9:ca11e4db63a7 83 smart.forward(); //Move foward
jvfausto 9:ca11e4db63a7 84
ryanlin97 0:7e6b349182bc 85 }
ryanlin97 0:7e6b349182bc 86 else if( c == 'a') {
jvfausto 9:ca11e4db63a7 87 smart.left(); //Turn left
ryanlin97 0:7e6b349182bc 88 }
jvfausto 9:ca11e4db63a7 89 else if( c == 'd') {
jvfausto 9:ca11e4db63a7 90 smart.right(); //Turn right
ryanlin97 0:7e6b349182bc 91 }
jvfausto 9:ca11e4db63a7 92 else if( c == 's') {
jvfausto 9:ca11e4db63a7 93 smart.backward(); //Turn rackwards
jvfausto 9:ca11e4db63a7 94 }
jvfausto 9:ca11e4db63a7 95
jvfausto 9:ca11e4db63a7 96 else if( c == 't') {
jvfausto 9:ca11e4db63a7 97 smart.pid_twistA();
jvfausto 9:ca11e4db63a7 98 } else if(c == 'v'){
jvfausto 9:ca11e4db63a7 99 smart.showOdom();
jvfausto 9:ca11e4db63a7 100 } else if(c == 'o') { //Turns on chair
jvfausto 7:04f93e6b929f 101 pc.printf("turning on\r\n");
ryanlin97 6:e9b1684a9c00 102 on = 1;
ryanlin97 6:e9b1684a9c00 103 wait(1);
ryanlin97 6:e9b1684a9c00 104 on = 0;
jvfausto 9:ca11e4db63a7 105 } else if(c == 'f') { //Turns off chair
jvfausto 7:04f93e6b929f 106 pc.printf("turning off\r\n");
ryanlin97 6:e9b1684a9c00 107 off = 1;
ryanlin97 6:e9b1684a9c00 108 wait(1);
ryanlin97 6:e9b1684a9c00 109 off = 0;
jvfausto 9:ca11e4db63a7 110
jvfausto 9:ca11e4db63a7 111 } else if(c == 'k'){ //Sends command to go to the kitchen
jvfausto 9:ca11e4db63a7 112 smart.pid_twistV();
jvfausto 9:ca11e4db63a7 113 } else if( c == 'm' || manual) { //Turns wheelchair to joystick
jvfausto 7:04f93e6b929f 114 pc.printf("turning on joystick\r\n");
ryanlin97 0:7e6b349182bc 115 manual = true;
ryanlin97 0:7e6b349182bc 116 t.reset();
ryanlin97 0:7e6b349182bc 117 while(manual) {
jvfausto 9:ca11e4db63a7 118 smart.move(x,y); //Reads from joystick and moves
ryanlin97 0:7e6b349182bc 119 if( pc.readable()) {
ryanlin97 0:7e6b349182bc 120 char d = pc.getc();
jvfausto 9:ca11e4db63a7 121 if( d == 'm') { //Turns wheelchair from joystick into auto
jvfausto 7:04f93e6b929f 122 pc.printf("turning off joystick\r\n");
ryanlin97 0:7e6b349182bc 123 manual = false;
ryanlin97 0:7e6b349182bc 124 }
ryanlin97 0:7e6b349182bc 125 }
jvfausto 7:04f93e6b929f 126 }
ryanlin97 0:7e6b349182bc 127 }
jvfausto 9:ca11e4db63a7 128 else {
jvfausto 9:ca11e4db63a7 129 pc.printf("none \r\n");
jvfausto 9:ca11e4db63a7 130 smart.stop(); //If nothing else is happening stop the chair
ryanlin97 0:7e6b349182bc 131 }
ryanlin97 0:7e6b349182bc 132 }
jvfausto 9:ca11e4db63a7 133 else {
jvfausto 9:ca11e4db63a7 134
jvfausto 9:ca11e4db63a7 135 smart.stop(); //If nothing else is happening stop the chair
jvfausto 9:ca11e4db63a7 136 }
ryanlin97 0:7e6b349182bc 137
ryanlin97 0:7e6b349182bc 138 wait(process);
ryanlin97 0:7e6b349182bc 139 }
ryanlin97 0:7e6b349182bc 140 }
ryanlin97 0:7e6b349182bc 141