UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

lift.cpp@4:89ebfa37663b, 2018-03-05 (annotated)

Committer:
MikeGray92
Date:
Mon Mar 05 23:08:34 2018 +0000
Revision:
4:89ebfa37663b
Parent:
3:527f0b949839
Child:
6:2ffa254e8f6e
Added chat modes; Defined new limits for gimbal

Who changed what in which revision?

UserRevisionLine numberNew contents of line
group-UVic-Assistive-Technolog 0:3a767f41cf04 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>
group-UVic-Assistive-Technolog 0:3a767f41cf04 6 #include <std_msgs/Float32MultiArray.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 4:89ebfa37663b 17 //Check If Arrived
MikeGray92 4:89ebfa37663b 18 if (abs(control.height - currentPosition) < 5){
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 4:89ebfa37663b 24 if(startFlag == 0){
MikeGray92 4:89ebfa37663b 25 startHallInt();
MikeGray92 4:89ebfa37663b 26 startFlag = 1;
MikeGray92 4:89ebfa37663b 27 }
MikeGray92 4:89ebfa37663b 28 // Set direction
group-UVic-Assistive-Technolog 0:3a767f41cf04 29 if(control.height > currentPosition){
MikeGray92 4:89ebfa37663b 30 liftDirection.write(LIFTUP);
group-UVic-Assistive-Technolog 0:3a767f41cf04 31 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 32 else if(control.height < currentPosition){
group-UVic-Assistive-Technolog 0:3a767f41cf04 33 liftDirection.write(LIFTDOWN);
MikeGray92 4:89ebfa37663b 34 }
MikeGray92 4:89ebfa37663b 35 liftSpeed.write(0.5);
MikeGray92 4:89ebfa37663b 36 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 37 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 38
MikeGray92 2:0537a8007a39 39 void stallCheck(void){
MikeGray92 4:89ebfa37663b 40 if(stallcount > 3 && liftSpeed.read() > 0){
MikeGray92 2:0537a8007a39 41 liftSpeed.write(0);
MikeGray92 2:0537a8007a39 42 if (liftDirection.read() == LIFTUP){
MikeGray92 2:0537a8007a39 43 currentPosition = LIFTHEIGHTMAX;
MikeGray92 4:89ebfa37663b 44 control.height = currentPosition;
MikeGray92 2:0537a8007a39 45 }else{
MikeGray92 2:0537a8007a39 46 currentPosition = 0;
MikeGray92 4:89ebfa37663b 47 control.height = currentPosition;
MikeGray92 2:0537a8007a39 48 }
MikeGray92 2:0537a8007a39 49 }
MikeGray92 2:0537a8007a39 50 }