Working file for communication with ROS
Dependencies: QEI2 PID VL53L1X_Filter
wheelchair.cpp@18:663b6d693252, 2018-08-29 (annotated)
- Committer:
- jvfausto
- Date:
- Wed Aug 29 16:51:33 2018 +0000
- Revision:
- 18:663b6d693252
- Parent:
- 17:7f3b69300bb6
- Child:
- 19:71a6621ee5c3
with pid left right and foward
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryanlin97 | 0:fc0c4a184482 | 1 | #include "wheelchair.h" |
jvfausto | 17:7f3b69300bb6 | 2 | Serial qei(D1, D0); |
ryanlin97 | 11:d14a1f7f1297 | 3 | |
ryanlin97 | 10:e5463c11e0a0 | 4 | bool manual_drive = false; |
ryanlin97 | 11:d14a1f7f1297 | 5 | volatile float north; |
ryanlin97 | 12:921488918749 | 6 | //volatile double curr_yaw; |
ryanlin97 | 12:921488918749 | 7 | double curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 8 | double encoder_distance; |
jvfausto | 17:7f3b69300bb6 | 9 | char myString[64]; |
jvfausto | 18:663b6d693252 | 10 | double Setpoint, Output, Input, Input2; |
jvfausto | 18:663b6d693252 | 11 | double pid_yaw, Distance, Setpoint2, Output2, encoder_distance2; |
jvfausto | 17:7f3b69300bb6 | 12 | PID myPID(&pid_yaw, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT); |
jvfausto | 18:663b6d693252 | 13 | PID myPIDDistance(&Input, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT); |
jvfausto | 18:663b6d693252 | 14 | PID myPIDDistance2(&Input2, &Output2, &Setpoint2, 5.5, .00, 0.0036, P_ON_E, DIRECT); |
jvfausto | 17:7f3b69300bb6 | 15 | //QEI wheel_right(D0, D1, NC, 450); |
ryanlin97 | 11:d14a1f7f1297 | 16 | void Wheelchair::compass_thread() { |
ryanlin97 | 11:d14a1f7f1297 | 17 | curr_yaw = imu->yaw(); |
ryanlin97 | 11:d14a1f7f1297 | 18 | north = boxcar(imu->angle_north()); |
jvfausto | 17:7f3b69300bb6 | 19 | |
ryanlin97 | 11:d14a1f7f1297 | 20 | } |
jvfausto | 17:7f3b69300bb6 | 21 | void Wheelchair::distance_thread() { |
jvfausto | 17:7f3b69300bb6 | 22 | /* int i; |
jvfausto | 17:7f3b69300bb6 | 23 | qei.putc('h'); |
jvfausto | 17:7f3b69300bb6 | 24 | //qei.gets(myString, 10); |
jvfausto | 17:7f3b69300bb6 | 25 | ti->reset(); |
jvfausto | 17:7f3b69300bb6 | 26 | |
jvfausto | 17:7f3b69300bb6 | 27 | for (i=0; myString[i-1] != '\n'; i++) { |
jvfausto | 17:7f3b69300bb6 | 28 | while (true) { |
jvfausto | 17:7f3b69300bb6 | 29 | //pc.printf("%f\r\n", ti.read()); |
jvfausto | 17:7f3b69300bb6 | 30 | if (ti->read() > .02) break; |
jvfausto | 17:7f3b69300bb6 | 31 | if (qei.readable()) { |
jvfausto | 17:7f3b69300bb6 | 32 | myString[i]= qei.getc(); |
jvfausto | 17:7f3b69300bb6 | 33 | break; |
jvfausto | 17:7f3b69300bb6 | 34 | } |
jvfausto | 17:7f3b69300bb6 | 35 | } |
jvfausto | 17:7f3b69300bb6 | 36 | } |
jvfausto | 17:7f3b69300bb6 | 37 | myString[i-1] = 0; |
jvfausto | 17:7f3b69300bb6 | 38 | encoder_distance = atof(myString); |
jvfausto | 17:7f3b69300bb6 | 39 | //out->printf("displacement = %f\r\n", encoder_distance); |
jvfausto | 17:7f3b69300bb6 | 40 | for(i = 0; i < 64; i++) |
jvfausto | 17:7f3b69300bb6 | 41 | { |
jvfausto | 17:7f3b69300bb6 | 42 | myString[i] = 0; |
jvfausto | 17:7f3b69300bb6 | 43 | } */ |
jvfausto | 17:7f3b69300bb6 | 44 | } |
ryanlin97 | 11:d14a1f7f1297 | 45 | |
ryanlin97 | 8:381a4ec3fef8 | 46 | Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time ) |
ryanlin97 | 1:c0beadca1617 | 47 | { |
ryanlin97 | 3:a5e71bfdb492 | 48 | x = new PwmOut(xPin); |
ryanlin97 | 3:a5e71bfdb492 | 49 | y = new PwmOut(yPin); |
ryanlin97 | 11:d14a1f7f1297 | 50 | imu = new chair_BNO055(pc, time); |
ryanlin97 | 11:d14a1f7f1297 | 51 | //imu = new chair_MPU9250(pc, time); |
ryanlin97 | 11:d14a1f7f1297 | 52 | Wheelchair::stop(); |
ryanlin97 | 7:5e38d43fbce3 | 53 | imu->setup(); |
ryanlin97 | 7:5e38d43fbce3 | 54 | out = pc; |
jvfausto | 17:7f3b69300bb6 | 55 | out->printf("wheelchair setup done \r\n"); |
ryanlin97 | 11:d14a1f7f1297 | 56 | ti = time; |
ryanlin97 | 14:9caca9fde9b0 | 57 | wheel = new QEI(Encoder1, Encoder2, NC, EncoderReadRate); |
ryanlin97 | 12:921488918749 | 58 | myPID.SetMode(AUTOMATIC); |
ryanlin97 | 1:c0beadca1617 | 59 | } |
ryanlin97 | 6:0cd57bdd8fbc | 60 | |
ryanlin97 | 3:a5e71bfdb492 | 61 | /* |
ryanlin97 | 3:a5e71bfdb492 | 62 | * joystick has analog out of 200-700, scale values between 1.3 and 3.3 |
ryanlin97 | 3:a5e71bfdb492 | 63 | */ |
ryanlin97 | 3:a5e71bfdb492 | 64 | void Wheelchair::move(float x_coor, float y_coor) |
ryanlin97 | 1:c0beadca1617 | 65 | { |
ryanlin97 | 6:0cd57bdd8fbc | 66 | |
ryanlin97 | 4:29a27953fe70 | 67 | float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f; |
ryanlin97 | 4:29a27953fe70 | 68 | float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f; |
ryanlin97 | 11:d14a1f7f1297 | 69 | |
ryanlin97 | 11:d14a1f7f1297 | 70 | // lowPass(scaled_x); |
ryanlin97 | 11:d14a1f7f1297 | 71 | //lowPass(scaled_y); |
ryanlin97 | 11:d14a1f7f1297 | 72 | |
ryanlin97 | 4:29a27953fe70 | 73 | x->write(scaled_x); |
ryanlin97 | 4:29a27953fe70 | 74 | y->write(scaled_y); |
ryanlin97 | 11:d14a1f7f1297 | 75 | |
jvfausto | 17:7f3b69300bb6 | 76 | //out->printf("yaw %f\r\r\n", imu->yaw()); |
ryanlin97 | 1:c0beadca1617 | 77 | |
ryanlin97 | 5:e0ccaab3959a | 78 | } |
ryanlin97 | 11:d14a1f7f1297 | 79 | |
ryanlin97 | 1:c0beadca1617 | 80 | void Wheelchair::forward() |
ryanlin97 | 1:c0beadca1617 | 81 | { |
ryanlin97 | 0:fc0c4a184482 | 82 | x->write(high); |
ryanlin97 | 3:a5e71bfdb492 | 83 | y->write(def+offset); |
jvfausto | 17:7f3b69300bb6 | 84 | // out->printf("distance %f\r\n", wheel_right.getDistance(37.5)); |
ryanlin97 | 0:fc0c4a184482 | 85 | } |
ryanlin97 | 0:fc0c4a184482 | 86 | |
ryanlin97 | 1:c0beadca1617 | 87 | void Wheelchair::backward() |
ryanlin97 | 1:c0beadca1617 | 88 | { |
ryanlin97 | 0:fc0c4a184482 | 89 | x->write(low); |
ryanlin97 | 0:fc0c4a184482 | 90 | y->write(def); |
ryanlin97 | 0:fc0c4a184482 | 91 | } |
ryanlin97 | 0:fc0c4a184482 | 92 | |
ryanlin97 | 1:c0beadca1617 | 93 | void Wheelchair::right() |
ryanlin97 | 1:c0beadca1617 | 94 | { |
ryanlin97 | 0:fc0c4a184482 | 95 | x->write(def); |
ryanlin97 | 11:d14a1f7f1297 | 96 | y->write(low); |
ryanlin97 | 0:fc0c4a184482 | 97 | } |
ryanlin97 | 0:fc0c4a184482 | 98 | |
ryanlin97 | 1:c0beadca1617 | 99 | void Wheelchair::left() |
ryanlin97 | 1:c0beadca1617 | 100 | { |
ryanlin97 | 0:fc0c4a184482 | 101 | x->write(def); |
ryanlin97 | 11:d14a1f7f1297 | 102 | y->write(high); |
ryanlin97 | 0:fc0c4a184482 | 103 | } |
ryanlin97 | 0:fc0c4a184482 | 104 | |
ryanlin97 | 1:c0beadca1617 | 105 | void Wheelchair::stop() |
ryanlin97 | 1:c0beadca1617 | 106 | { |
ryanlin97 | 0:fc0c4a184482 | 107 | x->write(def); |
ryanlin97 | 0:fc0c4a184482 | 108 | y->write(def); |
ryanlin97 | 6:0cd57bdd8fbc | 109 | } |
ryanlin97 | 11:d14a1f7f1297 | 110 | // counter clockwise is - |
ryanlin97 | 11:d14a1f7f1297 | 111 | // clockwise is + |
ryanlin97 | 12:921488918749 | 112 | void Wheelchair::pid_right(int deg) |
ryanlin97 | 12:921488918749 | 113 | { |
ryanlin97 | 12:921488918749 | 114 | bool overturn = false; |
ryanlin97 | 12:921488918749 | 115 | |
jvfausto | 17:7f3b69300bb6 | 116 | out->printf("pid right\r\r\n"); |
ryanlin97 | 12:921488918749 | 117 | x->write(def); |
ryanlin97 | 12:921488918749 | 118 | Setpoint = curr_yaw + deg; |
jvfausto | 17:7f3b69300bb6 | 119 | pid_yaw = curr_yaw; |
ryanlin97 | 12:921488918749 | 120 | if(Setpoint > 360) { |
jvfausto | 17:7f3b69300bb6 | 121 | // Setpoint -= 360; |
ryanlin97 | 12:921488918749 | 122 | overturn = true; |
ryanlin97 | 12:921488918749 | 123 | } |
jvfausto | 17:7f3b69300bb6 | 124 | myPID.SetTunings(5.5,0, 0.00345); |
jvfausto | 17:7f3b69300bb6 | 125 | myPID.SetOutputLimits(0, def-low); |
ryanlin97 | 12:921488918749 | 126 | myPID.SetControllerDirection(REVERSE); |
jvfausto | 17:7f3b69300bb6 | 127 | while(pid_yaw < Setpoint - 3){//curr_yaw <= Setpoint) { |
jvfausto | 17:7f3b69300bb6 | 128 | if(overturn && curr_yaw < Setpoint-deg-1) |
jvfausto | 17:7f3b69300bb6 | 129 | { |
jvfausto | 17:7f3b69300bb6 | 130 | pid_yaw = curr_yaw + 360; |
jvfausto | 17:7f3b69300bb6 | 131 | } |
jvfausto | 17:7f3b69300bb6 | 132 | else |
jvfausto | 17:7f3b69300bb6 | 133 | pid_yaw = curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 134 | myPID.Compute(); |
jvfausto | 17:7f3b69300bb6 | 135 | double tempor = Output+low; |
jvfausto | 17:7f3b69300bb6 | 136 | y->write(tempor); |
jvfausto | 17:7f3b69300bb6 | 137 | out->printf("curr_yaw %f\r\r\n", curr_yaw); |
jvfausto | 17:7f3b69300bb6 | 138 | out->printf("Setpoint = %f \r\n", Setpoint); |
jvfausto | 17:7f3b69300bb6 | 139 | |
jvfausto | 17:7f3b69300bb6 | 140 | wait(.05); |
ryanlin97 | 12:921488918749 | 141 | } |
ryanlin97 | 12:921488918749 | 142 | Wheelchair::stop(); |
jvfausto | 17:7f3b69300bb6 | 143 | out->printf("done \r\n"); |
ryanlin97 | 12:921488918749 | 144 | } |
ryanlin97 | 6:0cd57bdd8fbc | 145 | |
ryanlin97 | 12:921488918749 | 146 | void Wheelchair::pid_left(int deg) |
ryanlin97 | 12:921488918749 | 147 | { |
ryanlin97 | 12:921488918749 | 148 | bool overturn = false; |
ryanlin97 | 12:921488918749 | 149 | |
jvfausto | 17:7f3b69300bb6 | 150 | out->printf("pid Left\r\r\n"); |
ryanlin97 | 12:921488918749 | 151 | x->write(def); |
ryanlin97 | 12:921488918749 | 152 | Setpoint = curr_yaw - deg; |
jvfausto | 17:7f3b69300bb6 | 153 | pid_yaw = curr_yaw; |
ryanlin97 | 12:921488918749 | 154 | if(Setpoint < 0) { |
jvfausto | 17:7f3b69300bb6 | 155 | // Setpoint += 360; |
ryanlin97 | 12:921488918749 | 156 | overturn = true; |
ryanlin97 | 12:921488918749 | 157 | } |
jvfausto | 17:7f3b69300bb6 | 158 | myPID.SetTunings(5,0, 0.004); |
jvfausto | 17:7f3b69300bb6 | 159 | myPID.SetOutputLimits(0,high-def); |
jvfausto | 17:7f3b69300bb6 | 160 | myPID.SetControllerDirection(REVERSE); |
jvfausto | 17:7f3b69300bb6 | 161 | while(pid_yaw > Setpoint + 3){//pid_yaw < Setpoint + 2) { |
jvfausto | 17:7f3b69300bb6 | 162 | myPID.Compute(); |
jvfausto | 17:7f3b69300bb6 | 163 | if(overturn && curr_yaw > Setpoint+deg+1) |
jvfausto | 17:7f3b69300bb6 | 164 | { |
jvfausto | 17:7f3b69300bb6 | 165 | pid_yaw = curr_yaw - 360; |
jvfausto | 17:7f3b69300bb6 | 166 | } |
jvfausto | 17:7f3b69300bb6 | 167 | else |
jvfausto | 17:7f3b69300bb6 | 168 | pid_yaw = curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 169 | double tempor = Output+def; |
jvfausto | 17:7f3b69300bb6 | 170 | |
jvfausto | 17:7f3b69300bb6 | 171 | y->write(tempor); |
jvfausto | 17:7f3b69300bb6 | 172 | out->printf("curr_yaw %f\r\n", curr_yaw); |
jvfausto | 17:7f3b69300bb6 | 173 | wait(.05); |
ryanlin97 | 12:921488918749 | 174 | } |
jvfausto | 17:7f3b69300bb6 | 175 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 176 | } |
ryanlin97 | 12:921488918749 | 177 | |
ryanlin97 | 12:921488918749 | 178 | void Wheelchair::pid_turn(int deg) { |
ryanlin97 | 12:921488918749 | 179 | if(deg > 180) { |
ryanlin97 | 12:921488918749 | 180 | deg -= 360; |
ryanlin97 | 12:921488918749 | 181 | } |
ryanlin97 | 12:921488918749 | 182 | |
ryanlin97 | 12:921488918749 | 183 | else if(deg < -180) { |
ryanlin97 | 12:921488918749 | 184 | deg+=360; |
ryanlin97 | 12:921488918749 | 185 | } |
ryanlin97 | 12:921488918749 | 186 | |
ryanlin97 | 12:921488918749 | 187 | int turnAmt = abs(deg); |
ryanlin97 | 12:921488918749 | 188 | ti->reset(); |
ryanlin97 | 12:921488918749 | 189 | |
ryanlin97 | 12:921488918749 | 190 | if(deg >= 0){ |
ryanlin97 | 12:921488918749 | 191 | Wheelchair::pid_right(turnAmt); |
ryanlin97 | 12:921488918749 | 192 | } |
ryanlin97 | 12:921488918749 | 193 | else { |
ryanlin97 | 12:921488918749 | 194 | Wheelchair::pid_left(turnAmt); |
ryanlin97 | 12:921488918749 | 195 | } |
ryanlin97 | 12:921488918749 | 196 | } |
jvfausto | 17:7f3b69300bb6 | 197 | void Wheelchair::pid_foward(double mm) |
jvfausto | 17:7f3b69300bb6 | 198 | { |
jvfausto | 17:7f3b69300bb6 | 199 | qei.putc('r'); |
jvfausto | 17:7f3b69300bb6 | 200 | out->printf("pid foward\r\n"); |
jvfausto | 17:7f3b69300bb6 | 201 | |
jvfausto | 17:7f3b69300bb6 | 202 | double tempor; |
jvfausto | 17:7f3b69300bb6 | 203 | Setpoint2 = mm; |
jvfausto | 17:7f3b69300bb6 | 204 | |
jvfausto | 17:7f3b69300bb6 | 205 | // Setpoint = wheel_right.getDistance(37.5)+mm; |
jvfausto | 17:7f3b69300bb6 | 206 | myPIDDistance.SetTunings(5,0, 0.004); |
jvfausto | 17:7f3b69300bb6 | 207 | myPIDDistance.SetOutputLimits(0,high-def); |
jvfausto | 17:7f3b69300bb6 | 208 | myPIDDistance.SetControllerDirection(DIRECT); |
jvfausto | 17:7f3b69300bb6 | 209 | y->write(def); |
jvfausto | 17:7f3b69300bb6 | 210 | while(encoder_distance < Setpoint2-5){//pid_yaw < Setpoint + 2) { |
jvfausto | 17:7f3b69300bb6 | 211 | int i; |
jvfausto | 17:7f3b69300bb6 | 212 | qei.putc('h'); |
jvfausto | 17:7f3b69300bb6 | 213 | //qei.gets(myString, 10); |
jvfausto | 17:7f3b69300bb6 | 214 | ti->reset(); |
jvfausto | 17:7f3b69300bb6 | 215 | |
jvfausto | 17:7f3b69300bb6 | 216 | for (i=0; myString[i-1] != '\n'; i++) { |
jvfausto | 17:7f3b69300bb6 | 217 | while (true) { |
jvfausto | 17:7f3b69300bb6 | 218 | //pc.printf("%f\r\n", ti.read()); |
jvfausto | 17:7f3b69300bb6 | 219 | if (ti->read() > .02) break; |
jvfausto | 17:7f3b69300bb6 | 220 | if (qei.readable()) { |
jvfausto | 17:7f3b69300bb6 | 221 | myString[i]= qei.getc(); |
jvfausto | 17:7f3b69300bb6 | 222 | break; |
jvfausto | 17:7f3b69300bb6 | 223 | } |
jvfausto | 17:7f3b69300bb6 | 224 | } |
jvfausto | 17:7f3b69300bb6 | 225 | } |
jvfausto | 17:7f3b69300bb6 | 226 | myString[i-1] = 0; |
jvfausto | 18:663b6d693252 | 227 | double tempor2 = atof(myString); |
jvfausto | 17:7f3b69300bb6 | 228 | out->printf("displacement = %f\r\n", tempor); |
jvfausto | 17:7f3b69300bb6 | 229 | if(abs(tempor - encoder_distance) < 500) |
jvfausto | 17:7f3b69300bb6 | 230 | { |
jvfausto | 17:7f3b69300bb6 | 231 | encoder_distance = tempor; |
jvfausto | 17:7f3b69300bb6 | 232 | out->printf("this is fine\r\n"); |
jvfausto | 18:663b6d693252 | 233 | } |
jvfausto | 17:7f3b69300bb6 | 234 | for(i = 0; i < 64; i++) |
jvfausto | 17:7f3b69300bb6 | 235 | { |
jvfausto | 17:7f3b69300bb6 | 236 | myString[i] = 0; |
jvfausto | 17:7f3b69300bb6 | 237 | } |
jvfausto | 17:7f3b69300bb6 | 238 | Input = encoder_distance; |
jvfausto | 17:7f3b69300bb6 | 239 | out->printf("input foward %f\r\n", Input); |
jvfausto | 17:7f3b69300bb6 | 240 | wait(.1); |
jvfausto | 17:7f3b69300bb6 | 241 | myPIDDistance.Compute(); |
jvfausto | 17:7f3b69300bb6 | 242 | |
jvfausto | 17:7f3b69300bb6 | 243 | tempor = Output + def; |
jvfausto | 17:7f3b69300bb6 | 244 | x->write(tempor); |
jvfausto | 17:7f3b69300bb6 | 245 | out->printf("distance %f\r\n", encoder_distance); |
jvfausto | 17:7f3b69300bb6 | 246 | } |
jvfausto | 17:7f3b69300bb6 | 247 | |
ryanlin97 | 12:921488918749 | 248 | |
jvfausto | 17:7f3b69300bb6 | 249 | } |
jvfausto | 17:7f3b69300bb6 | 250 | void Wheelchair::pid_reverse(double mm) |
jvfausto | 17:7f3b69300bb6 | 251 | { |
jvfausto | 17:7f3b69300bb6 | 252 | qei.putc('r'); |
jvfausto | 18:663b6d693252 | 253 | out->printf("pid reverse\r\n"); |
jvfausto | 17:7f3b69300bb6 | 254 | |
jvfausto | 18:663b6d693252 | 255 | double tempor; |
jvfausto | 18:663b6d693252 | 256 | Setpoint2 = mm; |
jvfausto | 18:663b6d693252 | 257 | |
jvfausto | 17:7f3b69300bb6 | 258 | // Setpoint = wheel_right.getDistance(37.5)+mm; |
jvfausto | 17:7f3b69300bb6 | 259 | myPIDDistance.SetTunings(5,0, 0.004); |
jvfausto | 18:663b6d693252 | 260 | myPIDDistance.SetOutputLimits(0,def); |
jvfausto | 18:663b6d693252 | 261 | myPIDDistance.SetControllerDirection(REVERSE); |
jvfausto | 17:7f3b69300bb6 | 262 | y->write(def); |
jvfausto | 18:663b6d693252 | 263 | while(encoder_distance > Setpoint2+5){//pid_yaw < Setpoint + 2) { |
jvfausto | 18:663b6d693252 | 264 | int i; |
jvfausto | 18:663b6d693252 | 265 | qei.putc('h'); |
jvfausto | 18:663b6d693252 | 266 | //qei.gets(myString, 10); |
jvfausto | 18:663b6d693252 | 267 | ti->reset(); |
jvfausto | 18:663b6d693252 | 268 | |
jvfausto | 18:663b6d693252 | 269 | for (i=0; myString[i-1] != '\n'; i++) { |
jvfausto | 18:663b6d693252 | 270 | while (true) { |
jvfausto | 18:663b6d693252 | 271 | //pc.printf("%f\r\n", ti.read()); |
jvfausto | 18:663b6d693252 | 272 | if (ti->read() > .02) break; |
jvfausto | 18:663b6d693252 | 273 | if (qei.readable()) { |
jvfausto | 18:663b6d693252 | 274 | myString[i]= qei.getc(); |
jvfausto | 18:663b6d693252 | 275 | break; |
jvfausto | 18:663b6d693252 | 276 | } |
jvfausto | 18:663b6d693252 | 277 | } |
jvfausto | 18:663b6d693252 | 278 | } |
jvfausto | 18:663b6d693252 | 279 | myString[i-1] = 0; |
jvfausto | 18:663b6d693252 | 280 | double tempor = atof(myString); |
jvfausto | 18:663b6d693252 | 281 | out->printf("displacement = %f\r\n", tempor); |
jvfausto | 18:663b6d693252 | 282 | if(abs(tempor - encoder_distance) < 500) |
jvfausto | 18:663b6d693252 | 283 | { |
jvfausto | 18:663b6d693252 | 284 | encoder_distance = tempor; |
jvfausto | 18:663b6d693252 | 285 | out->printf("this is fine\r\n"); |
jvfausto | 18:663b6d693252 | 286 | } |
jvfausto | 18:663b6d693252 | 287 | for(i = 0; i < 64; i++) |
jvfausto | 18:663b6d693252 | 288 | { |
jvfausto | 18:663b6d693252 | 289 | myString[i] = 0; |
jvfausto | 18:663b6d693252 | 290 | } |
jvfausto | 18:663b6d693252 | 291 | Input = encoder_distance; |
jvfausto | 18:663b6d693252 | 292 | out->printf("input foward %f\r\n", Input); |
jvfausto | 18:663b6d693252 | 293 | wait(.1); |
jvfausto | 18:663b6d693252 | 294 | myPIDDistance.Compute(); |
jvfausto | 18:663b6d693252 | 295 | |
jvfausto | 18:663b6d693252 | 296 | qei.putc('k'); |
jvfausto | 18:663b6d693252 | 297 | //qei.gets(myString, 10); |
jvfausto | 18:663b6d693252 | 298 | ti->reset(); |
jvfausto | 18:663b6d693252 | 299 | |
jvfausto | 18:663b6d693252 | 300 | for (i=0; myString[i-1] != '\n'; i++) { |
jvfausto | 18:663b6d693252 | 301 | while (true) { |
jvfausto | 18:663b6d693252 | 302 | //pc.printf("%f\r\n", ti.read()); |
jvfausto | 18:663b6d693252 | 303 | if (ti->read() > .02) break; |
jvfausto | 18:663b6d693252 | 304 | if (qei.readable()) { |
jvfausto | 18:663b6d693252 | 305 | myString[i]= qei.getc(); |
jvfausto | 18:663b6d693252 | 306 | break; |
jvfausto | 18:663b6d693252 | 307 | } |
jvfausto | 18:663b6d693252 | 308 | } |
jvfausto | 18:663b6d693252 | 309 | } |
jvfausto | 18:663b6d693252 | 310 | myString[i-1] = 0; |
jvfausto | 18:663b6d693252 | 311 | double tempor2 = atof(myString); |
jvfausto | 18:663b6d693252 | 312 | out->printf("displacement = %f\r\n", tempor2); |
jvfausto | 18:663b6d693252 | 313 | |
jvfausto | 18:663b6d693252 | 314 | if(abs(tempor - encoder_distance) < 500) |
jvfausto | 18:663b6d693252 | 315 | { |
jvfausto | 18:663b6d693252 | 316 | encoder_distance = tempor; |
jvfausto | 18:663b6d693252 | 317 | out->printf("this is fine\r\n"); |
jvfausto | 18:663b6d693252 | 318 | } |
jvfausto | 18:663b6d693252 | 319 | if(abs(tempor - encoder_distance2) < 500) |
jvfausto | 18:663b6d693252 | 320 | { |
jvfausto | 18:663b6d693252 | 321 | encoder_distance = tempor; |
jvfausto | 18:663b6d693252 | 322 | out->printf("this is fine\r\n"); |
jvfausto | 18:663b6d693252 | 323 | } |
jvfausto | 18:663b6d693252 | 324 | for(i = 0; i < 64; i++) |
jvfausto | 18:663b6d693252 | 325 | { |
jvfausto | 18:663b6d693252 | 326 | myString[i] = 0; |
jvfausto | 18:663b6d693252 | 327 | } |
jvfausto | 18:663b6d693252 | 328 | tempor = Output; |
jvfausto | 17:7f3b69300bb6 | 329 | x->write(tempor); |
jvfausto | 18:663b6d693252 | 330 | out->printf("distance %f\r\n", encoder_distance); |
jvfausto | 18:663b6d693252 | 331 | } |
jvfausto | 17:7f3b69300bb6 | 332 | } |
ryanlin97 | 11:d14a1f7f1297 | 333 | double Wheelchair::turn_right(int deg) |
ryanlin97 | 6:0cd57bdd8fbc | 334 | { |
ryanlin97 | 8:381a4ec3fef8 | 335 | bool overturn = false; |
jvfausto | 17:7f3b69300bb6 | 336 | out->printf("turning right\r\n"); |
ryanlin97 | 7:5e38d43fbce3 | 337 | |
ryanlin97 | 11:d14a1f7f1297 | 338 | double start = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 339 | double final = start + deg; |
ryanlin97 | 11:d14a1f7f1297 | 340 | |
ryanlin97 | 11:d14a1f7f1297 | 341 | if(final > 360) { |
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 | 11:d14a1f7f1297 | 347 | |
ryanlin97 | 11:d14a1f7f1297 | 348 | double curr = -1; |
ryanlin97 | 12:921488918749 | 349 | while(curr <= final - 30) { |
ryanlin97 | 8:381a4ec3fef8 | 350 | Wheelchair::right(); |
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 | 7:5e38d43fbce3 | 355 | } |
ryanlin97 | 11:d14a1f7f1297 | 356 | curr = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 357 | if(overturn && curr > (360 - deg) ) { |
ryanlin97 | 11:d14a1f7f1297 | 358 | curr = 0; |
ryanlin97 | 6:0cd57bdd8fbc | 359 | } |
ryanlin97 | 6:0cd57bdd8fbc | 360 | } |
ryanlin97 | 11:d14a1f7f1297 | 361 | |
jvfausto | 17:7f3b69300bb6 | 362 | out->printf("done turning start %f final %f\r\n", start, final); |
ryanlin97 | 10:e5463c11e0a0 | 363 | Wheelchair::stop(); |
ryanlin97 | 11:d14a1f7f1297 | 364 | |
ryanlin97 | 12:921488918749 | 365 | //delete me |
ryanlin97 | 12:921488918749 | 366 | wait(5); |
ryanlin97 | 12:921488918749 | 367 | |
ryanlin97 | 12:921488918749 | 368 | float correction = final - curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 369 | out->printf("final pos %f actual pos %f\r\n", final, curr_yaw); |
ryanlin97 | 12:921488918749 | 370 | Wheelchair::turn_left(abs(correction)); |
ryanlin97 | 12:921488918749 | 371 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 372 | |
ryanlin97 | 12:921488918749 | 373 | wait(5); |
jvfausto | 17:7f3b69300bb6 | 374 | out->printf("curr_yaw %f\r\n", curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 375 | return final; |
ryanlin97 | 6:0cd57bdd8fbc | 376 | } |
ryanlin97 | 6:0cd57bdd8fbc | 377 | |
ryanlin97 | 11:d14a1f7f1297 | 378 | double Wheelchair::turn_left(int deg) |
ryanlin97 | 6:0cd57bdd8fbc | 379 | { |
ryanlin97 | 8:381a4ec3fef8 | 380 | bool overturn = false; |
jvfausto | 17:7f3b69300bb6 | 381 | out->printf("turning left\r\n"); |
ryanlin97 | 8:381a4ec3fef8 | 382 | |
ryanlin97 | 12:921488918749 | 383 | double start = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 384 | double final = start - deg; |
ryanlin97 | 8:381a4ec3fef8 | 385 | |
ryanlin97 | 11:d14a1f7f1297 | 386 | if(final < 0) { |
ryanlin97 | 11:d14a1f7f1297 | 387 | final += 360; |
ryanlin97 | 8:381a4ec3fef8 | 388 | overturn = true; |
ryanlin97 | 8:381a4ec3fef8 | 389 | } |
ryanlin97 | 8:381a4ec3fef8 | 390 | |
jvfausto | 17:7f3b69300bb6 | 391 | out->printf("start %f, final %f\r\n", start, final); |
ryanlin97 | 6:0cd57bdd8fbc | 392 | |
ryanlin97 | 11:d14a1f7f1297 | 393 | double curr = 361; |
ryanlin97 | 11:d14a1f7f1297 | 394 | while(curr >= final) { |
ryanlin97 | 6:0cd57bdd8fbc | 395 | Wheelchair::left(); |
ryanlin97 | 8:381a4ec3fef8 | 396 | if( out->readable()) { |
jvfausto | 17:7f3b69300bb6 | 397 | out->printf("stopped\r\n"); |
ryanlin97 | 8:381a4ec3fef8 | 398 | Wheelchair::stop(); |
ryanlin97 | 8:381a4ec3fef8 | 399 | return; |
ryanlin97 | 8:381a4ec3fef8 | 400 | } |
ryanlin97 | 11:d14a1f7f1297 | 401 | curr = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 402 | |
ryanlin97 | 11:d14a1f7f1297 | 403 | if(overturn && curr >= 0 && curr <= start ) { |
ryanlin97 | 11:d14a1f7f1297 | 404 | curr = 361; |
ryanlin97 | 8:381a4ec3fef8 | 405 | } |
ryanlin97 | 6:0cd57bdd8fbc | 406 | } |
ryanlin97 | 8:381a4ec3fef8 | 407 | |
jvfausto | 17:7f3b69300bb6 | 408 | out->printf("done turning start %f final %f\r\n", start, final); |
ryanlin97 | 10:e5463c11e0a0 | 409 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 410 | |
ryanlin97 | 12:921488918749 | 411 | //delete me |
ryanlin97 | 12:921488918749 | 412 | wait(2); |
ryanlin97 | 12:921488918749 | 413 | /* |
ryanlin97 | 12:921488918749 | 414 | float correction = final - curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 415 | out->printf("final pos %f actual pos %f\r\n", final, curr_yaw); |
ryanlin97 | 12:921488918749 | 416 | Wheelchair::turn_right(abs(correction)); |
ryanlin97 | 12:921488918749 | 417 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 418 | */ |
ryanlin97 | 11:d14a1f7f1297 | 419 | return final; |
ryanlin97 | 11:d14a1f7f1297 | 420 | } |
ryanlin97 | 11:d14a1f7f1297 | 421 | |
ryanlin97 | 11:d14a1f7f1297 | 422 | void Wheelchair::turn(int deg) |
ryanlin97 | 11:d14a1f7f1297 | 423 | { |
ryanlin97 | 11:d14a1f7f1297 | 424 | if(deg > 180) { |
ryanlin97 | 11:d14a1f7f1297 | 425 | deg -= 360; |
ryanlin97 | 11:d14a1f7f1297 | 426 | } |
ryanlin97 | 11:d14a1f7f1297 | 427 | |
ryanlin97 | 11:d14a1f7f1297 | 428 | else if(deg < -180) { |
ryanlin97 | 11:d14a1f7f1297 | 429 | deg+=360; |
ryanlin97 | 11:d14a1f7f1297 | 430 | } |
ryanlin97 | 11:d14a1f7f1297 | 431 | |
ryanlin97 | 11:d14a1f7f1297 | 432 | double finalpos; |
ryanlin97 | 11:d14a1f7f1297 | 433 | int turnAmt = abs(deg); |
ryanlin97 | 11:d14a1f7f1297 | 434 | //ti->reset(); |
ryanlin97 | 11:d14a1f7f1297 | 435 | /* |
ryanlin97 | 11:d14a1f7f1297 | 436 | if(deg >= 0){ |
ryanlin97 | 11:d14a1f7f1297 | 437 | finalpos = Wheelchair::turn_right(turnAmt); |
ryanlin97 | 11:d14a1f7f1297 | 438 | } |
ryanlin97 | 11:d14a1f7f1297 | 439 | else { |
ryanlin97 | 11:d14a1f7f1297 | 440 | finalpos = Wheelchair::turn_left(turnAmt); |
ryanlin97 | 11:d14a1f7f1297 | 441 | } |
ryanlin97 | 11:d14a1f7f1297 | 442 | */ |
ryanlin97 | 11:d14a1f7f1297 | 443 | wait(2); |
ryanlin97 | 11:d14a1f7f1297 | 444 | |
ryanlin97 | 11:d14a1f7f1297 | 445 | float correction = finalpos - curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 446 | out->printf("final pos %f actual pos %f\r\n", finalpos, curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 447 | |
ryanlin97 | 11:d14a1f7f1297 | 448 | |
ryanlin97 | 11:d14a1f7f1297 | 449 | //if(abs(correction) > turn_precision) { |
jvfausto | 17:7f3b69300bb6 | 450 | out->printf("correcting %f\r\n", correction); |
ryanlin97 | 11:d14a1f7f1297 | 451 | //ti->reset(); |
ryanlin97 | 11:d14a1f7f1297 | 452 | Wheelchair::turn_left(curr_yaw - finalpos); |
ryanlin97 | 11:d14a1f7f1297 | 453 | return; |
ryanlin97 | 11:d14a1f7f1297 | 454 | //} |
ryanlin97 | 11:d14a1f7f1297 | 455 | |
ryanlin97 | 6:0cd57bdd8fbc | 456 | } |
ryanlin97 | 8:381a4ec3fef8 | 457 | |
ryanlin97 | 12:921488918749 | 458 | float Wheelchair::getDistance() { |
ryanlin97 | 12:921488918749 | 459 | return wheel->getDistance(Diameter); |
ryanlin97 | 12:921488918749 | 460 | } |
ryanlin97 | 12:921488918749 | 461 | |
ryanlin97 | 12:921488918749 | 462 | void Wheelchair::resetDistance(){ |
ryanlin97 | 12:921488918749 | 463 | wheel->reset(); |
ryanlin97 | 12:921488918749 | 464 | } |
ryanlin97 | 10:e5463c11e0a0 | 465 | |
ryanlin97 | 12:921488918749 | 466 |