UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

lift.cpp@7:950b3c3b5a2b, 2018-03-14 (annotated)

Committer:
MikeGray92
Date:
Wed Mar 14 19:33:08 2018 +0000
Revision:
7:950b3c3b5a2b
Parent:
6:2ffa254e8f6e
Child:
10:836e701d00a6
Tested with ROS; Added Initialized ROS Inputs to avoid errors at start up; Limit the roll movement, to allow greater pitch movement; In Bed Chatting mode changed to rosInput.mode = 4 and Standing Chatting mode changed to rosInput.mode = 2.

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>
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 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 6:2ffa254e8f6e 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 6:2ffa254e8f6e 39 //Determining if the lift stalled and stopping if it is
MikeGray92 2:0537a8007a39 40 void stallCheck(void){
MikeGray92 4:89ebfa37663b 41 if(stallcount > 3 && liftSpeed.read() > 0){
MikeGray92 2:0537a8007a39 42 liftSpeed.write(0);
MikeGray92 2:0537a8007a39 43 if (liftDirection.read() == LIFTUP){
MikeGray92 2:0537a8007a39 44 currentPosition = LIFTHEIGHTMAX;
MikeGray92 4:89ebfa37663b 45 control.height = currentPosition;
MikeGray92 2:0537a8007a39 46 }else{
MikeGray92 2:0537a8007a39 47 currentPosition = 0;
MikeGray92 4:89ebfa37663b 48 control.height = currentPosition;
MikeGray92 2:0537a8007a39 49 }
MikeGray92 2:0537a8007a39 50 }
MikeGray92 2:0537a8007a39 51 }