finished commenting on the .cpp file and changed the statistics library name
Dependencies: QEI2 PID IMU6050Ver11 Watchdog VL53L1X_Filter ros_lib_kinetic
Dependents: Version1-3 Version1-5
wheelchair.cpp@19:71a6621ee5c3, 2018-08-31 (annotated)
- Committer:
- jvfausto
- Date:
- Fri Aug 31 17:09:56 2018 +0000
- Revision:
- 19:71a6621ee5c3
- Parent:
- 18:663b6d693252
- Child:
- 20:f42db4ae16f0
h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryanlin97 | 0:fc0c4a184482 | 1 | #include "wheelchair.h" |
ryanlin97 | 11:d14a1f7f1297 | 2 | |
ryanlin97 | 10:e5463c11e0a0 | 3 | bool manual_drive = false; |
ryanlin97 | 11:d14a1f7f1297 | 4 | volatile float north; |
ryanlin97 | 12:921488918749 | 5 | //volatile double curr_yaw; |
ryanlin97 | 12:921488918749 | 6 | double curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 7 | double encoder_distance; |
jvfausto | 17:7f3b69300bb6 | 8 | char myString[64]; |
jvfausto | 19:71a6621ee5c3 | 9 | volatile double Setpoint, Output, Input, Input2; |
jvfausto | 19:71a6621ee5c3 | 10 | volatile double pid_yaw, Distance, Setpoint2, Output2, encoder_distance2; |
jvfausto | 17:7f3b69300bb6 | 11 | PID myPID(&pid_yaw, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT); |
jvfausto | 19:71a6621ee5c3 | 12 | PID myPIDDistance(&Input, &Output, &Setpoint, 5.5, .00, 0.0025, P_ON_E, DIRECT); |
jvfausto | 19:71a6621ee5c3 | 13 | |
jvfausto | 19:71a6621ee5c3 | 14 | |
jvfausto | 19:71a6621ee5c3 | 15 | //PID myPIDDistance2(&Input2, &Output2, &Setpoint2, 5.5, .00, 0.0036, P_ON_E, DIRECT); |
jvfausto | 17:7f3b69300bb6 | 16 | //QEI wheel_right(D0, D1, NC, 450); |
ryanlin97 | 11:d14a1f7f1297 | 17 | void Wheelchair::compass_thread() { |
ryanlin97 | 11:d14a1f7f1297 | 18 | curr_yaw = imu->yaw(); |
ryanlin97 | 11:d14a1f7f1297 | 19 | north = boxcar(imu->angle_north()); |
jvfausto | 17:7f3b69300bb6 | 20 | |
ryanlin97 | 11:d14a1f7f1297 | 21 | } |
ryanlin97 | 11:d14a1f7f1297 | 22 | |
jvfausto | 19:71a6621ee5c3 | 23 | Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei) |
ryanlin97 | 1:c0beadca1617 | 24 | { |
ryanlin97 | 3:a5e71bfdb492 | 25 | x = new PwmOut(xPin); |
ryanlin97 | 3:a5e71bfdb492 | 26 | y = new PwmOut(yPin); |
ryanlin97 | 11:d14a1f7f1297 | 27 | imu = new chair_BNO055(pc, time); |
ryanlin97 | 11:d14a1f7f1297 | 28 | //imu = new chair_MPU9250(pc, time); |
ryanlin97 | 11:d14a1f7f1297 | 29 | Wheelchair::stop(); |
ryanlin97 | 7:5e38d43fbce3 | 30 | imu->setup(); |
ryanlin97 | 7:5e38d43fbce3 | 31 | out = pc; |
jvfausto | 19:71a6621ee5c3 | 32 | wheel = qei; |
jvfausto | 17:7f3b69300bb6 | 33 | out->printf("wheelchair setup done \r\n"); |
ryanlin97 | 11:d14a1f7f1297 | 34 | ti = time; |
jvfausto | 19:71a6621ee5c3 | 35 | //wheel = new QEI(Encoder1, Encoder2, NC, EncoderReadRate); |
ryanlin97 | 12:921488918749 | 36 | myPID.SetMode(AUTOMATIC); |
ryanlin97 | 1:c0beadca1617 | 37 | } |
ryanlin97 | 6:0cd57bdd8fbc | 38 | |
ryanlin97 | 3:a5e71bfdb492 | 39 | /* |
ryanlin97 | 3:a5e71bfdb492 | 40 | * joystick has analog out of 200-700, scale values between 1.3 and 3.3 |
ryanlin97 | 3:a5e71bfdb492 | 41 | */ |
ryanlin97 | 3:a5e71bfdb492 | 42 | void Wheelchair::move(float x_coor, float y_coor) |
ryanlin97 | 1:c0beadca1617 | 43 | { |
ryanlin97 | 6:0cd57bdd8fbc | 44 | |
ryanlin97 | 4:29a27953fe70 | 45 | float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f; |
ryanlin97 | 4:29a27953fe70 | 46 | float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f; |
ryanlin97 | 11:d14a1f7f1297 | 47 | |
ryanlin97 | 11:d14a1f7f1297 | 48 | // lowPass(scaled_x); |
ryanlin97 | 11:d14a1f7f1297 | 49 | //lowPass(scaled_y); |
ryanlin97 | 11:d14a1f7f1297 | 50 | |
ryanlin97 | 4:29a27953fe70 | 51 | x->write(scaled_x); |
ryanlin97 | 4:29a27953fe70 | 52 | y->write(scaled_y); |
ryanlin97 | 11:d14a1f7f1297 | 53 | |
jvfausto | 17:7f3b69300bb6 | 54 | //out->printf("yaw %f\r\r\n", imu->yaw()); |
ryanlin97 | 1:c0beadca1617 | 55 | |
ryanlin97 | 5:e0ccaab3959a | 56 | } |
ryanlin97 | 11:d14a1f7f1297 | 57 | |
ryanlin97 | 1:c0beadca1617 | 58 | void Wheelchair::forward() |
ryanlin97 | 1:c0beadca1617 | 59 | { |
ryanlin97 | 0:fc0c4a184482 | 60 | x->write(high); |
ryanlin97 | 3:a5e71bfdb492 | 61 | y->write(def+offset); |
jvfausto | 17:7f3b69300bb6 | 62 | // out->printf("distance %f\r\n", wheel_right.getDistance(37.5)); |
ryanlin97 | 0:fc0c4a184482 | 63 | } |
ryanlin97 | 0:fc0c4a184482 | 64 | |
ryanlin97 | 1:c0beadca1617 | 65 | void Wheelchair::backward() |
ryanlin97 | 1:c0beadca1617 | 66 | { |
ryanlin97 | 0:fc0c4a184482 | 67 | x->write(low); |
ryanlin97 | 0:fc0c4a184482 | 68 | y->write(def); |
ryanlin97 | 0:fc0c4a184482 | 69 | } |
ryanlin97 | 0:fc0c4a184482 | 70 | |
ryanlin97 | 1:c0beadca1617 | 71 | void Wheelchair::right() |
ryanlin97 | 1:c0beadca1617 | 72 | { |
ryanlin97 | 0:fc0c4a184482 | 73 | x->write(def); |
ryanlin97 | 11:d14a1f7f1297 | 74 | y->write(low); |
ryanlin97 | 0:fc0c4a184482 | 75 | } |
ryanlin97 | 0:fc0c4a184482 | 76 | |
ryanlin97 | 1:c0beadca1617 | 77 | void Wheelchair::left() |
ryanlin97 | 1:c0beadca1617 | 78 | { |
ryanlin97 | 0:fc0c4a184482 | 79 | x->write(def); |
ryanlin97 | 11:d14a1f7f1297 | 80 | y->write(high); |
ryanlin97 | 0:fc0c4a184482 | 81 | } |
ryanlin97 | 0:fc0c4a184482 | 82 | |
ryanlin97 | 1:c0beadca1617 | 83 | void Wheelchair::stop() |
ryanlin97 | 1:c0beadca1617 | 84 | { |
ryanlin97 | 0:fc0c4a184482 | 85 | x->write(def); |
ryanlin97 | 0:fc0c4a184482 | 86 | y->write(def); |
ryanlin97 | 6:0cd57bdd8fbc | 87 | } |
ryanlin97 | 11:d14a1f7f1297 | 88 | // counter clockwise is - |
ryanlin97 | 11:d14a1f7f1297 | 89 | // clockwise is + |
ryanlin97 | 12:921488918749 | 90 | void Wheelchair::pid_right(int deg) |
ryanlin97 | 12:921488918749 | 91 | { |
ryanlin97 | 12:921488918749 | 92 | bool overturn = false; |
ryanlin97 | 12:921488918749 | 93 | |
jvfausto | 17:7f3b69300bb6 | 94 | out->printf("pid right\r\r\n"); |
ryanlin97 | 12:921488918749 | 95 | x->write(def); |
ryanlin97 | 12:921488918749 | 96 | Setpoint = curr_yaw + deg; |
jvfausto | 17:7f3b69300bb6 | 97 | pid_yaw = curr_yaw; |
ryanlin97 | 12:921488918749 | 98 | if(Setpoint > 360) { |
jvfausto | 17:7f3b69300bb6 | 99 | // Setpoint -= 360; |
ryanlin97 | 12:921488918749 | 100 | overturn = true; |
ryanlin97 | 12:921488918749 | 101 | } |
jvfausto | 19:71a6621ee5c3 | 102 | myPID.SetTunings(5.5,0, 0.0035); |
jvfausto | 19:71a6621ee5c3 | 103 | myPID.SetOutputLimits(0, def-low-.15); |
jvfausto | 19:71a6621ee5c3 | 104 | myPID.SetControllerDirection(DIRECT); |
jvfausto | 17:7f3b69300bb6 | 105 | while(pid_yaw < Setpoint - 3){//curr_yaw <= Setpoint) { |
jvfausto | 17:7f3b69300bb6 | 106 | if(overturn && curr_yaw < Setpoint-deg-1) |
jvfausto | 17:7f3b69300bb6 | 107 | { |
jvfausto | 17:7f3b69300bb6 | 108 | pid_yaw = curr_yaw + 360; |
jvfausto | 17:7f3b69300bb6 | 109 | } |
jvfausto | 17:7f3b69300bb6 | 110 | else |
jvfausto | 17:7f3b69300bb6 | 111 | pid_yaw = curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 112 | myPID.Compute(); |
jvfausto | 19:71a6621ee5c3 | 113 | double tempor = -Output+def; |
jvfausto | 17:7f3b69300bb6 | 114 | y->write(tempor); |
jvfausto | 17:7f3b69300bb6 | 115 | out->printf("curr_yaw %f\r\r\n", curr_yaw); |
jvfausto | 17:7f3b69300bb6 | 116 | out->printf("Setpoint = %f \r\n", Setpoint); |
jvfausto | 17:7f3b69300bb6 | 117 | |
jvfausto | 17:7f3b69300bb6 | 118 | wait(.05); |
ryanlin97 | 12:921488918749 | 119 | } |
ryanlin97 | 12:921488918749 | 120 | Wheelchair::stop(); |
jvfausto | 17:7f3b69300bb6 | 121 | out->printf("done \r\n"); |
ryanlin97 | 12:921488918749 | 122 | } |
ryanlin97 | 6:0cd57bdd8fbc | 123 | |
ryanlin97 | 12:921488918749 | 124 | void Wheelchair::pid_left(int deg) |
ryanlin97 | 12:921488918749 | 125 | { |
ryanlin97 | 12:921488918749 | 126 | bool overturn = false; |
ryanlin97 | 12:921488918749 | 127 | |
jvfausto | 17:7f3b69300bb6 | 128 | out->printf("pid Left\r\r\n"); |
ryanlin97 | 12:921488918749 | 129 | x->write(def); |
ryanlin97 | 12:921488918749 | 130 | Setpoint = curr_yaw - deg; |
jvfausto | 17:7f3b69300bb6 | 131 | pid_yaw = curr_yaw; |
ryanlin97 | 12:921488918749 | 132 | if(Setpoint < 0) { |
jvfausto | 17:7f3b69300bb6 | 133 | // Setpoint += 360; |
ryanlin97 | 12:921488918749 | 134 | overturn = true; |
ryanlin97 | 12:921488918749 | 135 | } |
jvfausto | 17:7f3b69300bb6 | 136 | myPID.SetTunings(5,0, 0.004); |
jvfausto | 19:71a6621ee5c3 | 137 | myPID.SetOutputLimits(0,high-def-.12); |
jvfausto | 17:7f3b69300bb6 | 138 | myPID.SetControllerDirection(REVERSE); |
jvfausto | 19:71a6621ee5c3 | 139 | while(pid_yaw > Setpoint+3){//pid_yaw < Setpoint + 2) { |
jvfausto | 17:7f3b69300bb6 | 140 | myPID.Compute(); |
jvfausto | 17:7f3b69300bb6 | 141 | if(overturn && curr_yaw > Setpoint+deg+1) |
jvfausto | 17:7f3b69300bb6 | 142 | { |
jvfausto | 17:7f3b69300bb6 | 143 | pid_yaw = curr_yaw - 360; |
jvfausto | 17:7f3b69300bb6 | 144 | } |
jvfausto | 17:7f3b69300bb6 | 145 | else |
jvfausto | 17:7f3b69300bb6 | 146 | pid_yaw = curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 147 | double tempor = Output+def; |
jvfausto | 17:7f3b69300bb6 | 148 | |
jvfausto | 17:7f3b69300bb6 | 149 | y->write(tempor); |
jvfausto | 17:7f3b69300bb6 | 150 | out->printf("curr_yaw %f\r\n", curr_yaw); |
jvfausto | 17:7f3b69300bb6 | 151 | wait(.05); |
ryanlin97 | 12:921488918749 | 152 | } |
jvfausto | 17:7f3b69300bb6 | 153 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 154 | } |
ryanlin97 | 12:921488918749 | 155 | |
ryanlin97 | 12:921488918749 | 156 | void Wheelchair::pid_turn(int deg) { |
ryanlin97 | 12:921488918749 | 157 | if(deg > 180) { |
ryanlin97 | 12:921488918749 | 158 | deg -= 360; |
ryanlin97 | 12:921488918749 | 159 | } |
ryanlin97 | 12:921488918749 | 160 | |
ryanlin97 | 12:921488918749 | 161 | else if(deg < -180) { |
ryanlin97 | 12:921488918749 | 162 | deg+=360; |
ryanlin97 | 12:921488918749 | 163 | } |
ryanlin97 | 12:921488918749 | 164 | |
ryanlin97 | 12:921488918749 | 165 | int turnAmt = abs(deg); |
ryanlin97 | 12:921488918749 | 166 | ti->reset(); |
ryanlin97 | 12:921488918749 | 167 | |
ryanlin97 | 12:921488918749 | 168 | if(deg >= 0){ |
ryanlin97 | 12:921488918749 | 169 | Wheelchair::pid_right(turnAmt); |
ryanlin97 | 12:921488918749 | 170 | } |
ryanlin97 | 12:921488918749 | 171 | else { |
ryanlin97 | 12:921488918749 | 172 | Wheelchair::pid_left(turnAmt); |
ryanlin97 | 12:921488918749 | 173 | } |
ryanlin97 | 12:921488918749 | 174 | } |
jvfausto | 19:71a6621ee5c3 | 175 | void Wheelchair::pid_forward(double mm) |
jvfausto | 17:7f3b69300bb6 | 176 | { |
jvfausto | 19:71a6621ee5c3 | 177 | mm -= 20; |
jvfausto | 19:71a6621ee5c3 | 178 | Input = 0; |
jvfausto | 19:71a6621ee5c3 | 179 | wheel->reset(); |
jvfausto | 17:7f3b69300bb6 | 180 | out->printf("pid foward\r\n"); |
jvfausto | 17:7f3b69300bb6 | 181 | |
jvfausto | 17:7f3b69300bb6 | 182 | double tempor; |
jvfausto | 19:71a6621ee5c3 | 183 | Setpoint = mm; |
jvfausto | 17:7f3b69300bb6 | 184 | |
jvfausto | 17:7f3b69300bb6 | 185 | // Setpoint = wheel_right.getDistance(37.5)+mm; |
jvfausto | 17:7f3b69300bb6 | 186 | myPIDDistance.SetTunings(5,0, 0.004); |
jvfausto | 19:71a6621ee5c3 | 187 | myPIDDistance.SetOutputLimits(0,high-def-.15); |
jvfausto | 17:7f3b69300bb6 | 188 | myPIDDistance.SetControllerDirection(DIRECT); |
jvfausto | 19:71a6621ee5c3 | 189 | y->write(def+offset); |
jvfausto | 19:71a6621ee5c3 | 190 | while(Input < Setpoint-5){//pid_yaw < Setpoint + 2) { |
jvfausto | 19:71a6621ee5c3 | 191 | if(out->readable()) |
jvfausto | 19:71a6621ee5c3 | 192 | break; |
jvfausto | 19:71a6621ee5c3 | 193 | Input = wheel->getDistance(53.975); |
jvfausto | 19:71a6621ee5c3 | 194 | //out->printf("input foward %d\r\n", wheel->getPulses()); |
jvfausto | 19:71a6621ee5c3 | 195 | wait(.05); |
jvfausto | 17:7f3b69300bb6 | 196 | myPIDDistance.Compute(); |
jvfausto | 17:7f3b69300bb6 | 197 | |
jvfausto | 17:7f3b69300bb6 | 198 | tempor = Output + def; |
jvfausto | 17:7f3b69300bb6 | 199 | x->write(tempor); |
jvfausto | 19:71a6621ee5c3 | 200 | out->printf("distance %f\r\n", Input); |
jvfausto | 17:7f3b69300bb6 | 201 | } |
jvfausto | 17:7f3b69300bb6 | 202 | |
ryanlin97 | 12:921488918749 | 203 | |
jvfausto | 17:7f3b69300bb6 | 204 | } |
jvfausto | 17:7f3b69300bb6 | 205 | void Wheelchair::pid_reverse(double mm) |
jvfausto | 17:7f3b69300bb6 | 206 | { |
jvfausto | 19:71a6621ee5c3 | 207 | /* qei.putc('r'); |
jvfausto | 18:663b6d693252 | 208 | out->printf("pid reverse\r\n"); |
jvfausto | 17:7f3b69300bb6 | 209 | |
jvfausto | 18:663b6d693252 | 210 | double tempor; |
jvfausto | 18:663b6d693252 | 211 | Setpoint2 = mm; |
jvfausto | 18:663b6d693252 | 212 | |
jvfausto | 17:7f3b69300bb6 | 213 | // Setpoint = wheel_right.getDistance(37.5)+mm; |
jvfausto | 17:7f3b69300bb6 | 214 | myPIDDistance.SetTunings(5,0, 0.004); |
jvfausto | 18:663b6d693252 | 215 | myPIDDistance.SetOutputLimits(0,def); |
jvfausto | 18:663b6d693252 | 216 | myPIDDistance.SetControllerDirection(REVERSE); |
jvfausto | 17:7f3b69300bb6 | 217 | y->write(def); |
jvfausto | 18:663b6d693252 | 218 | while(encoder_distance > Setpoint2+5){//pid_yaw < Setpoint + 2) { |
jvfausto | 18:663b6d693252 | 219 | int i; |
jvfausto | 18:663b6d693252 | 220 | qei.putc('h'); |
jvfausto | 18:663b6d693252 | 221 | //qei.gets(myString, 10); |
jvfausto | 18:663b6d693252 | 222 | ti->reset(); |
jvfausto | 18:663b6d693252 | 223 | |
jvfausto | 18:663b6d693252 | 224 | for (i=0; myString[i-1] != '\n'; i++) { |
jvfausto | 18:663b6d693252 | 225 | while (true) { |
jvfausto | 18:663b6d693252 | 226 | //pc.printf("%f\r\n", ti.read()); |
jvfausto | 18:663b6d693252 | 227 | if (ti->read() > .02) break; |
jvfausto | 18:663b6d693252 | 228 | if (qei.readable()) { |
jvfausto | 18:663b6d693252 | 229 | myString[i]= qei.getc(); |
jvfausto | 18:663b6d693252 | 230 | break; |
jvfausto | 18:663b6d693252 | 231 | } |
jvfausto | 18:663b6d693252 | 232 | } |
jvfausto | 18:663b6d693252 | 233 | } |
jvfausto | 18:663b6d693252 | 234 | myString[i-1] = 0; |
jvfausto | 18:663b6d693252 | 235 | double tempor = atof(myString); |
jvfausto | 18:663b6d693252 | 236 | out->printf("displacement = %f\r\n", tempor); |
jvfausto | 18:663b6d693252 | 237 | if(abs(tempor - encoder_distance) < 500) |
jvfausto | 18:663b6d693252 | 238 | { |
jvfausto | 18:663b6d693252 | 239 | encoder_distance = tempor; |
jvfausto | 18:663b6d693252 | 240 | out->printf("this is fine\r\n"); |
jvfausto | 18:663b6d693252 | 241 | } |
jvfausto | 18:663b6d693252 | 242 | for(i = 0; i < 64; i++) |
jvfausto | 18:663b6d693252 | 243 | { |
jvfausto | 18:663b6d693252 | 244 | myString[i] = 0; |
jvfausto | 18:663b6d693252 | 245 | } |
jvfausto | 18:663b6d693252 | 246 | Input = encoder_distance; |
jvfausto | 18:663b6d693252 | 247 | out->printf("input foward %f\r\n", Input); |
jvfausto | 18:663b6d693252 | 248 | wait(.1); |
jvfausto | 18:663b6d693252 | 249 | myPIDDistance.Compute(); |
jvfausto | 18:663b6d693252 | 250 | |
jvfausto | 19:71a6621ee5c3 | 251 | // get value from encoder2 |
jvfausto | 18:663b6d693252 | 252 | qei.putc('k'); |
jvfausto | 18:663b6d693252 | 253 | ti->reset(); |
jvfausto | 18:663b6d693252 | 254 | |
jvfausto | 18:663b6d693252 | 255 | for (i=0; myString[i-1] != '\n'; i++) { |
jvfausto | 18:663b6d693252 | 256 | while (true) { |
jvfausto | 18:663b6d693252 | 257 | //pc.printf("%f\r\n", ti.read()); |
jvfausto | 18:663b6d693252 | 258 | if (ti->read() > .02) break; |
jvfausto | 18:663b6d693252 | 259 | if (qei.readable()) { |
jvfausto | 18:663b6d693252 | 260 | myString[i]= qei.getc(); |
jvfausto | 18:663b6d693252 | 261 | break; |
jvfausto | 18:663b6d693252 | 262 | } |
jvfausto | 18:663b6d693252 | 263 | } |
jvfausto | 18:663b6d693252 | 264 | } |
jvfausto | 18:663b6d693252 | 265 | myString[i-1] = 0; |
jvfausto | 18:663b6d693252 | 266 | double tempor2 = atof(myString); |
jvfausto | 18:663b6d693252 | 267 | out->printf("displacement = %f\r\n", tempor2); |
jvfausto | 18:663b6d693252 | 268 | |
jvfausto | 18:663b6d693252 | 269 | if(abs(tempor - encoder_distance) < 500) |
jvfausto | 18:663b6d693252 | 270 | { |
jvfausto | 18:663b6d693252 | 271 | encoder_distance = tempor; |
jvfausto | 18:663b6d693252 | 272 | out->printf("this is fine\r\n"); |
jvfausto | 18:663b6d693252 | 273 | } |
jvfausto | 19:71a6621ee5c3 | 274 | if(abs(tempor2 - encoder_distance2) < 500) |
jvfausto | 18:663b6d693252 | 275 | { |
jvfausto | 19:71a6621ee5c3 | 276 | encoder_distance2 = tempor2; |
jvfausto | 18:663b6d693252 | 277 | out->printf("this is fine\r\n"); |
jvfausto | 18:663b6d693252 | 278 | } |
jvfausto | 18:663b6d693252 | 279 | for(i = 0; i < 64; i++) |
jvfausto | 18:663b6d693252 | 280 | { |
jvfausto | 18:663b6d693252 | 281 | myString[i] = 0; |
jvfausto | 18:663b6d693252 | 282 | } |
jvfausto | 18:663b6d693252 | 283 | tempor = Output; |
jvfausto | 17:7f3b69300bb6 | 284 | x->write(tempor); |
jvfausto | 18:663b6d693252 | 285 | out->printf("distance %f\r\n", encoder_distance); |
jvfausto | 19:71a6621ee5c3 | 286 | }*/ |
jvfausto | 17:7f3b69300bb6 | 287 | } |
ryanlin97 | 11:d14a1f7f1297 | 288 | double Wheelchair::turn_right(int deg) |
ryanlin97 | 6:0cd57bdd8fbc | 289 | { |
ryanlin97 | 8:381a4ec3fef8 | 290 | bool overturn = false; |
jvfausto | 17:7f3b69300bb6 | 291 | out->printf("turning right\r\n"); |
ryanlin97 | 7:5e38d43fbce3 | 292 | |
ryanlin97 | 11:d14a1f7f1297 | 293 | double start = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 294 | double final = start + deg; |
ryanlin97 | 11:d14a1f7f1297 | 295 | |
ryanlin97 | 11:d14a1f7f1297 | 296 | if(final > 360) { |
ryanlin97 | 11:d14a1f7f1297 | 297 | final -= 360; |
ryanlin97 | 8:381a4ec3fef8 | 298 | overturn = true; |
ryanlin97 | 8:381a4ec3fef8 | 299 | } |
ryanlin97 | 8:381a4ec3fef8 | 300 | |
jvfausto | 17:7f3b69300bb6 | 301 | out->printf("start %f, final %f\r\n", start, final); |
ryanlin97 | 11:d14a1f7f1297 | 302 | |
ryanlin97 | 11:d14a1f7f1297 | 303 | double curr = -1; |
ryanlin97 | 12:921488918749 | 304 | while(curr <= final - 30) { |
ryanlin97 | 8:381a4ec3fef8 | 305 | Wheelchair::right(); |
ryanlin97 | 8:381a4ec3fef8 | 306 | if( out->readable()) { |
jvfausto | 17:7f3b69300bb6 | 307 | out->printf("stopped\r\n"); |
ryanlin97 | 8:381a4ec3fef8 | 308 | Wheelchair::stop(); |
ryanlin97 | 8:381a4ec3fef8 | 309 | return; |
ryanlin97 | 7:5e38d43fbce3 | 310 | } |
ryanlin97 | 11:d14a1f7f1297 | 311 | curr = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 312 | if(overturn && curr > (360 - deg) ) { |
ryanlin97 | 11:d14a1f7f1297 | 313 | curr = 0; |
ryanlin97 | 6:0cd57bdd8fbc | 314 | } |
ryanlin97 | 6:0cd57bdd8fbc | 315 | } |
ryanlin97 | 11:d14a1f7f1297 | 316 | |
jvfausto | 17:7f3b69300bb6 | 317 | out->printf("done turning start %f final %f\r\n", start, final); |
ryanlin97 | 10:e5463c11e0a0 | 318 | Wheelchair::stop(); |
ryanlin97 | 11:d14a1f7f1297 | 319 | |
ryanlin97 | 12:921488918749 | 320 | //delete me |
ryanlin97 | 12:921488918749 | 321 | wait(5); |
ryanlin97 | 12:921488918749 | 322 | |
ryanlin97 | 12:921488918749 | 323 | float correction = final - curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 324 | out->printf("final pos %f actual pos %f\r\n", final, curr_yaw); |
ryanlin97 | 12:921488918749 | 325 | Wheelchair::turn_left(abs(correction)); |
ryanlin97 | 12:921488918749 | 326 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 327 | |
ryanlin97 | 12:921488918749 | 328 | wait(5); |
jvfausto | 17:7f3b69300bb6 | 329 | out->printf("curr_yaw %f\r\n", curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 330 | return final; |
ryanlin97 | 6:0cd57bdd8fbc | 331 | } |
ryanlin97 | 6:0cd57bdd8fbc | 332 | |
ryanlin97 | 11:d14a1f7f1297 | 333 | double Wheelchair::turn_left(int deg) |
ryanlin97 | 6:0cd57bdd8fbc | 334 | { |
ryanlin97 | 8:381a4ec3fef8 | 335 | bool overturn = false; |
jvfausto | 17:7f3b69300bb6 | 336 | out->printf("turning left\r\n"); |
ryanlin97 | 8:381a4ec3fef8 | 337 | |
ryanlin97 | 12:921488918749 | 338 | double start = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 339 | double final = start - deg; |
ryanlin97 | 8:381a4ec3fef8 | 340 | |
ryanlin97 | 11:d14a1f7f1297 | 341 | if(final < 0) { |
ryanlin97 | 11:d14a1f7f1297 | 342 | final += 360; |
ryanlin97 | 8:381a4ec3fef8 | 343 | overturn = true; |
ryanlin97 | 8:381a4ec3fef8 | 344 | } |
ryanlin97 | 8:381a4ec3fef8 | 345 | |
jvfausto | 17:7f3b69300bb6 | 346 | out->printf("start %f, final %f\r\n", start, final); |
ryanlin97 | 6:0cd57bdd8fbc | 347 | |
ryanlin97 | 11:d14a1f7f1297 | 348 | double curr = 361; |
ryanlin97 | 11:d14a1f7f1297 | 349 | while(curr >= final) { |
ryanlin97 | 6:0cd57bdd8fbc | 350 | Wheelchair::left(); |
ryanlin97 | 8:381a4ec3fef8 | 351 | if( out->readable()) { |
jvfausto | 17:7f3b69300bb6 | 352 | out->printf("stopped\r\n"); |
ryanlin97 | 8:381a4ec3fef8 | 353 | Wheelchair::stop(); |
ryanlin97 | 8:381a4ec3fef8 | 354 | return; |
ryanlin97 | 8:381a4ec3fef8 | 355 | } |
ryanlin97 | 11:d14a1f7f1297 | 356 | curr = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 357 | |
ryanlin97 | 11:d14a1f7f1297 | 358 | if(overturn && curr >= 0 && curr <= start ) { |
ryanlin97 | 11:d14a1f7f1297 | 359 | curr = 361; |
ryanlin97 | 8:381a4ec3fef8 | 360 | } |
ryanlin97 | 6:0cd57bdd8fbc | 361 | } |
ryanlin97 | 8:381a4ec3fef8 | 362 | |
jvfausto | 17:7f3b69300bb6 | 363 | out->printf("done turning start %f final %f\r\n", start, final); |
ryanlin97 | 10:e5463c11e0a0 | 364 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 365 | |
ryanlin97 | 12:921488918749 | 366 | //delete me |
ryanlin97 | 12:921488918749 | 367 | wait(2); |
ryanlin97 | 12:921488918749 | 368 | /* |
ryanlin97 | 12:921488918749 | 369 | float correction = final - curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 370 | out->printf("final pos %f actual pos %f\r\n", final, curr_yaw); |
ryanlin97 | 12:921488918749 | 371 | Wheelchair::turn_right(abs(correction)); |
ryanlin97 | 12:921488918749 | 372 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 373 | */ |
ryanlin97 | 11:d14a1f7f1297 | 374 | return final; |
ryanlin97 | 11:d14a1f7f1297 | 375 | } |
ryanlin97 | 11:d14a1f7f1297 | 376 | |
ryanlin97 | 11:d14a1f7f1297 | 377 | void Wheelchair::turn(int deg) |
ryanlin97 | 11:d14a1f7f1297 | 378 | { |
ryanlin97 | 11:d14a1f7f1297 | 379 | if(deg > 180) { |
ryanlin97 | 11:d14a1f7f1297 | 380 | deg -= 360; |
ryanlin97 | 11:d14a1f7f1297 | 381 | } |
ryanlin97 | 11:d14a1f7f1297 | 382 | |
ryanlin97 | 11:d14a1f7f1297 | 383 | else if(deg < -180) { |
ryanlin97 | 11:d14a1f7f1297 | 384 | deg+=360; |
ryanlin97 | 11:d14a1f7f1297 | 385 | } |
ryanlin97 | 11:d14a1f7f1297 | 386 | |
ryanlin97 | 11:d14a1f7f1297 | 387 | double finalpos; |
ryanlin97 | 11:d14a1f7f1297 | 388 | int turnAmt = abs(deg); |
ryanlin97 | 11:d14a1f7f1297 | 389 | //ti->reset(); |
ryanlin97 | 11:d14a1f7f1297 | 390 | /* |
ryanlin97 | 11:d14a1f7f1297 | 391 | if(deg >= 0){ |
ryanlin97 | 11:d14a1f7f1297 | 392 | finalpos = Wheelchair::turn_right(turnAmt); |
ryanlin97 | 11:d14a1f7f1297 | 393 | } |
ryanlin97 | 11:d14a1f7f1297 | 394 | else { |
ryanlin97 | 11:d14a1f7f1297 | 395 | finalpos = Wheelchair::turn_left(turnAmt); |
ryanlin97 | 11:d14a1f7f1297 | 396 | } |
ryanlin97 | 11:d14a1f7f1297 | 397 | */ |
ryanlin97 | 11:d14a1f7f1297 | 398 | wait(2); |
ryanlin97 | 11:d14a1f7f1297 | 399 | |
ryanlin97 | 11:d14a1f7f1297 | 400 | float correction = finalpos - curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 401 | out->printf("final pos %f actual pos %f\r\n", finalpos, curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 402 | |
ryanlin97 | 11:d14a1f7f1297 | 403 | |
ryanlin97 | 11:d14a1f7f1297 | 404 | //if(abs(correction) > turn_precision) { |
jvfausto | 17:7f3b69300bb6 | 405 | out->printf("correcting %f\r\n", correction); |
ryanlin97 | 11:d14a1f7f1297 | 406 | //ti->reset(); |
ryanlin97 | 11:d14a1f7f1297 | 407 | Wheelchair::turn_left(curr_yaw - finalpos); |
ryanlin97 | 11:d14a1f7f1297 | 408 | return; |
ryanlin97 | 11:d14a1f7f1297 | 409 | //} |
ryanlin97 | 11:d14a1f7f1297 | 410 | |
ryanlin97 | 6:0cd57bdd8fbc | 411 | } |
ryanlin97 | 8:381a4ec3fef8 | 412 | |
ryanlin97 | 12:921488918749 | 413 | float Wheelchair::getDistance() { |
ryanlin97 | 12:921488918749 | 414 | return wheel->getDistance(Diameter); |
ryanlin97 | 12:921488918749 | 415 | } |
ryanlin97 | 12:921488918749 | 416 | |
ryanlin97 | 12:921488918749 | 417 | void Wheelchair::resetDistance(){ |
ryanlin97 | 12:921488918749 | 418 | wheel->reset(); |
ryanlin97 | 12:921488918749 | 419 | } |
jvfausto | 19:71a6621ee5c3 | 420 | void Wheelchair::desk() { |
jvfausto | 19:71a6621ee5c3 | 421 | Wheelchair::pid_forward(5461); |
jvfausto | 19:71a6621ee5c3 | 422 | Wheelchair::pid_right(87); |
jvfausto | 19:71a6621ee5c3 | 423 | Wheelchair::pid_forward(3658); |
jvfausto | 19:71a6621ee5c3 | 424 | Wheelchair::pid_right(87); |
jvfausto | 19:71a6621ee5c3 | 425 | Wheelchair::pid_forward(3658); |
jvfausto | 19:71a6621ee5c3 | 426 | } |
ryanlin97 | 10:e5463c11e0a0 | 427 | |
jvfausto | 19:71a6621ee5c3 | 428 | void Wheelchair::kitchen() { |
jvfausto | 19:71a6621ee5c3 | 429 | Wheelchair::pid_forward(5461); |
jvfausto | 19:71a6621ee5c3 | 430 | Wheelchair::pid_right(85); |
jvfausto | 19:71a6621ee5c3 | 431 | Wheelchair::pid_forward(3658); |
jvfausto | 19:71a6621ee5c3 | 432 | Wheelchair::pid_left(90); |
jvfausto | 19:71a6621ee5c3 | 433 | Wheelchair::pid_forward(305); |
jvfausto | 19:71a6621ee5c3 | 434 | } |
ryanlin97 | 12:921488918749 | 435 | |
jvfausto | 19:71a6621ee5c3 | 436 | void Wheelchair::desk_to_kitchen(){ |
jvfausto | 19:71a6621ee5c3 | 437 | Wheelchair::pid_right(180); |
jvfausto | 19:71a6621ee5c3 | 438 | Wheelchair::pid_forward(3700); |
jvfausto | 19:71a6621ee5c3 | 439 | } |
jvfausto | 19:71a6621ee5c3 | 440 |