UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

lift.cpp@10:836e701d00a6, 2018-04-26 (annotated)

Committer:
MikeGray92
Date:
Thu Apr 26 18:33:11 2018 +0000
Revision:
10:836e701d00a6
Parent:
7:950b3c3b5a2b
Child:
13:8630f38f8066
Speed and Position controlled lift and gimbal

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MikeGray92 10:836e701d00a6 1
group-UVic-Assistive-Technolog 0:3a767f41cf04 2 #include <stdint.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 3 #include "mbed.h"
group-UVic-Assistive-Technolog 0:3a767f41cf04 4 #include <ros.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 5 #include <std_msgs/Empty.h>
MikeGray92 7:950b3c3b5a2b 6 #include <std_msgs/Int32MultiArray.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 7 #include <BNO055.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 8 #include <initializations.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 9 #include <definitions.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 10 #include <prototypes.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 11 #include <Mx28.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 12
MikeGray92 4:89ebfa37663b 13 bool startFlag = 0;
MikeGray92 2:0537a8007a39 14
group-UVic-Assistive-Technolog 0:3a767f41cf04 15 void runLift(void){
MikeGray92 2:0537a8007a39 16 stallCheck();
MikeGray92 6:2ffa254e8f6e 17 //Check If Arrived
MikeGray92 10:836e701d00a6 18 if (abs(control.height - currentPosition) < 6){
MikeGray92 4:89ebfa37663b 19 liftSpeed.write(0);
MikeGray92 4:89ebfa37663b 20 stopHallInt();
MikeGray92 4:89ebfa37663b 21 startFlag = 0;
MikeGray92 4:89ebfa37663b 22 }
MikeGray92 4:89ebfa37663b 23 else {
MikeGray92 10:836e701d00a6 24 value1.write(1);
MikeGray92 4:89ebfa37663b 25 if(startFlag == 0){
MikeGray92 4:89ebfa37663b 26 startHallInt();
MikeGray92 4:89ebfa37663b 27 startFlag = 1;
MikeGray92 4:89ebfa37663b 28 }
MikeGray92 6:2ffa254e8f6e 29 // Set direction
group-UVic-Assistive-Technolog 0:3a767f41cf04 30 if(control.height > currentPosition){
MikeGray92 4:89ebfa37663b 31 liftDirection.write(LIFTUP);
group-UVic-Assistive-Technolog 0:3a767f41cf04 32 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 33 else if(control.height < currentPosition){
group-UVic-Assistive-Technolog 0:3a767f41cf04 34 liftDirection.write(LIFTDOWN);
MikeGray92 4:89ebfa37663b 35 }
MikeGray92 10:836e701d00a6 36 liftSpeed.write(liftDutyCycle);
MikeGray92 4:89ebfa37663b 37 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 38 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 39
MikeGray92 6:2ffa254e8f6e 40 //Determining if the lift stalled and stopping if it is
MikeGray92 2:0537a8007a39 41 void stallCheck(void){
MikeGray92 10:836e701d00a6 42 if(stallcount > 3 && liftSpeed.read() > 0 && eStopFlag == 0){
MikeGray92 2:0537a8007a39 43 liftSpeed.write(0);
MikeGray92 2:0537a8007a39 44 if (liftDirection.read() == LIFTUP){
MikeGray92 2:0537a8007a39 45 currentPosition = LIFTHEIGHTMAX;
MikeGray92 10:836e701d00a6 46 control.height = LIFTHEIGHTMAX;
MikeGray92 2:0537a8007a39 47 }else{
MikeGray92 2:0537a8007a39 48 currentPosition = 0;
MikeGray92 10:836e701d00a6 49 control.height = 0;
MikeGray92 2:0537a8007a39 50 }
MikeGray92 2:0537a8007a39 51 }
MikeGray92 2:0537a8007a39 52 }