Working file for communication with ROS
Dependencies: QEI2 PID VL53L1X_Filter
wheelchair.cpp@14:9caca9fde9b0, 2018-08-13 (annotated)
- Committer:
- ryanlin97
- Date:
- Mon Aug 13 18:22:54 2018 +0000
- Revision:
- 14:9caca9fde9b0
- Parent:
- 12:921488918749
- Child:
- 17:7f3b69300bb6
updated for small board;
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; |
ryanlin97 | 12:921488918749 | 7 | double Setpoint, Output; |
ryanlin97 | 12:921488918749 | 8 | PID myPID(&curr_yaw, &Output, &Setpoint, .1, .1, 5, DIRECT); |
ryanlin97 | 1:c0beadca1617 | 9 | |
ryanlin97 | 11:d14a1f7f1297 | 10 | void Wheelchair::compass_thread() { |
ryanlin97 | 12:921488918749 | 11 | |
ryanlin97 | 11:d14a1f7f1297 | 12 | //north = lowPass(imu->angle_north()); |
ryanlin97 | 12:921488918749 | 13 | //Input = (double)curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 14 | curr_yaw = imu->yaw(); |
ryanlin97 | 11:d14a1f7f1297 | 15 | north = boxcar(imu->angle_north()); |
ryanlin97 | 12:921488918749 | 16 | //out->printf("curr_yaw %f\n", curr_yaw); |
ryanlin97 | 12:921488918749 | 17 | //out->printf("%f\n", curr_yaw); |
ryanlin97 | 12:921488918749 | 18 | //out->printf("%f gyroz\n",imu->gyro_z()); |
ryanlin97 | 11:d14a1f7f1297 | 19 | //out->printf("yaw is %f, north is %f, curr_yaw is %f\n", comp_yn, north, curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 20 | |
ryanlin97 | 11:d14a1f7f1297 | 21 | //out->printf("Yaw is %f\n", imu->yaw()); |
ryanlin97 | 11:d14a1f7f1297 | 22 | //out->printf("north is %f\n", imu->angle_north()); |
ryanlin97 | 12:921488918749 | 23 | |
ryanlin97 | 11:d14a1f7f1297 | 24 | } |
ryanlin97 | 11:d14a1f7f1297 | 25 | |
ryanlin97 | 8:381a4ec3fef8 | 26 | Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time ) |
ryanlin97 | 1:c0beadca1617 | 27 | { |
ryanlin97 | 3:a5e71bfdb492 | 28 | x = new PwmOut(xPin); |
ryanlin97 | 3:a5e71bfdb492 | 29 | y = new PwmOut(yPin); |
ryanlin97 | 11:d14a1f7f1297 | 30 | imu = new chair_BNO055(pc, time); |
ryanlin97 | 11:d14a1f7f1297 | 31 | //imu = new chair_MPU9250(pc, time); |
ryanlin97 | 11:d14a1f7f1297 | 32 | Wheelchair::stop(); |
ryanlin97 | 7:5e38d43fbce3 | 33 | imu->setup(); |
ryanlin97 | 7:5e38d43fbce3 | 34 | out = pc; |
ryanlin97 | 7:5e38d43fbce3 | 35 | out->printf("wheelchair setup done \n"); |
ryanlin97 | 11:d14a1f7f1297 | 36 | ti = time; |
ryanlin97 | 14:9caca9fde9b0 | 37 | wheel = new QEI(Encoder1, Encoder2, NC, EncoderReadRate); |
ryanlin97 | 12:921488918749 | 38 | myPID.SetMode(AUTOMATIC); |
ryanlin97 | 1:c0beadca1617 | 39 | } |
ryanlin97 | 6:0cd57bdd8fbc | 40 | |
ryanlin97 | 3:a5e71bfdb492 | 41 | /* |
ryanlin97 | 3:a5e71bfdb492 | 42 | * joystick has analog out of 200-700, scale values between 1.3 and 3.3 |
ryanlin97 | 3:a5e71bfdb492 | 43 | */ |
ryanlin97 | 3:a5e71bfdb492 | 44 | void Wheelchair::move(float x_coor, float y_coor) |
ryanlin97 | 1:c0beadca1617 | 45 | { |
ryanlin97 | 6:0cd57bdd8fbc | 46 | |
ryanlin97 | 4:29a27953fe70 | 47 | float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f; |
ryanlin97 | 4:29a27953fe70 | 48 | float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f; |
ryanlin97 | 11:d14a1f7f1297 | 49 | |
ryanlin97 | 11:d14a1f7f1297 | 50 | // lowPass(scaled_x); |
ryanlin97 | 11:d14a1f7f1297 | 51 | //lowPass(scaled_y); |
ryanlin97 | 11:d14a1f7f1297 | 52 | |
ryanlin97 | 4:29a27953fe70 | 53 | x->write(scaled_x); |
ryanlin97 | 4:29a27953fe70 | 54 | y->write(scaled_y); |
ryanlin97 | 11:d14a1f7f1297 | 55 | |
ryanlin97 | 11:d14a1f7f1297 | 56 | //out->printf("yaw %f\n", imu->yaw()); |
ryanlin97 | 1:c0beadca1617 | 57 | |
ryanlin97 | 5:e0ccaab3959a | 58 | } |
ryanlin97 | 11:d14a1f7f1297 | 59 | |
ryanlin97 | 1:c0beadca1617 | 60 | void Wheelchair::forward() |
ryanlin97 | 1:c0beadca1617 | 61 | { |
ryanlin97 | 0:fc0c4a184482 | 62 | x->write(high); |
ryanlin97 | 3:a5e71bfdb492 | 63 | y->write(def+offset); |
ryanlin97 | 0:fc0c4a184482 | 64 | } |
ryanlin97 | 0:fc0c4a184482 | 65 | |
ryanlin97 | 1:c0beadca1617 | 66 | void Wheelchair::backward() |
ryanlin97 | 1:c0beadca1617 | 67 | { |
ryanlin97 | 0:fc0c4a184482 | 68 | x->write(low); |
ryanlin97 | 0:fc0c4a184482 | 69 | y->write(def); |
ryanlin97 | 0:fc0c4a184482 | 70 | } |
ryanlin97 | 0:fc0c4a184482 | 71 | |
ryanlin97 | 1:c0beadca1617 | 72 | void Wheelchair::right() |
ryanlin97 | 1:c0beadca1617 | 73 | { |
ryanlin97 | 0:fc0c4a184482 | 74 | x->write(def); |
ryanlin97 | 11:d14a1f7f1297 | 75 | y->write(low); |
ryanlin97 | 0:fc0c4a184482 | 76 | } |
ryanlin97 | 0:fc0c4a184482 | 77 | |
ryanlin97 | 1:c0beadca1617 | 78 | void Wheelchair::left() |
ryanlin97 | 1:c0beadca1617 | 79 | { |
ryanlin97 | 0:fc0c4a184482 | 80 | x->write(def); |
ryanlin97 | 11:d14a1f7f1297 | 81 | y->write(high); |
ryanlin97 | 0:fc0c4a184482 | 82 | } |
ryanlin97 | 0:fc0c4a184482 | 83 | |
ryanlin97 | 1:c0beadca1617 | 84 | void Wheelchair::stop() |
ryanlin97 | 1:c0beadca1617 | 85 | { |
ryanlin97 | 0:fc0c4a184482 | 86 | x->write(def); |
ryanlin97 | 0:fc0c4a184482 | 87 | y->write(def); |
ryanlin97 | 6:0cd57bdd8fbc | 88 | } |
ryanlin97 | 11:d14a1f7f1297 | 89 | // counter clockwise is - |
ryanlin97 | 11:d14a1f7f1297 | 90 | // clockwise is + |
ryanlin97 | 12:921488918749 | 91 | void Wheelchair::pid_right(int deg) |
ryanlin97 | 12:921488918749 | 92 | { |
ryanlin97 | 12:921488918749 | 93 | bool overturn = false; |
ryanlin97 | 12:921488918749 | 94 | |
ryanlin97 | 12:921488918749 | 95 | out->printf("pid right\n"); |
ryanlin97 | 12:921488918749 | 96 | x->write(def); |
ryanlin97 | 12:921488918749 | 97 | Setpoint = curr_yaw + deg; |
ryanlin97 | 12:921488918749 | 98 | |
ryanlin97 | 12:921488918749 | 99 | if(Setpoint > 360) { |
ryanlin97 | 12:921488918749 | 100 | Setpoint -= 360; |
ryanlin97 | 12:921488918749 | 101 | overturn = true; |
ryanlin97 | 12:921488918749 | 102 | } |
ryanlin97 | 12:921488918749 | 103 | |
ryanlin97 | 12:921488918749 | 104 | myPID.SetOutputLimits(low, def); |
ryanlin97 | 12:921488918749 | 105 | myPID.SetControllerDirection(REVERSE); |
ryanlin97 | 12:921488918749 | 106 | out->printf("setpoint %f curr_yaw %f input %f output %i %i same address\n", Setpoint, curr_yaw, *(myPID.myInput), *(myPID.myOutput), (myPID.myInput==&curr_yaw), (myPID.myOutput == &Output) ); |
ryanlin97 | 12:921488918749 | 107 | out->printf("addresses %i %i\n", myPID.myInput, &curr_yaw); |
ryanlin97 | 12:921488918749 | 108 | while(myPID.Compute()) { |
ryanlin97 | 12:921488918749 | 109 | y->write(Output); |
ryanlin97 | 12:921488918749 | 110 | out->printf("curr_yaw %f\n", curr_yaw); |
ryanlin97 | 12:921488918749 | 111 | } |
ryanlin97 | 12:921488918749 | 112 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 113 | out->printf("done \n"); |
ryanlin97 | 12:921488918749 | 114 | } |
ryanlin97 | 6:0cd57bdd8fbc | 115 | |
ryanlin97 | 12:921488918749 | 116 | void Wheelchair::pid_left(int deg) |
ryanlin97 | 12:921488918749 | 117 | { |
ryanlin97 | 12:921488918749 | 118 | bool overturn = false; |
ryanlin97 | 12:921488918749 | 119 | |
ryanlin97 | 12:921488918749 | 120 | x->write(def); |
ryanlin97 | 12:921488918749 | 121 | Setpoint = curr_yaw - deg; |
ryanlin97 | 12:921488918749 | 122 | |
ryanlin97 | 12:921488918749 | 123 | if(Setpoint < 0) { |
ryanlin97 | 12:921488918749 | 124 | Setpoint += 360; |
ryanlin97 | 12:921488918749 | 125 | overturn = true; |
ryanlin97 | 12:921488918749 | 126 | } |
ryanlin97 | 12:921488918749 | 127 | myPID.SetOutputLimits(def,high); |
ryanlin97 | 12:921488918749 | 128 | myPID.SetControllerDirection(DIRECT); |
ryanlin97 | 12:921488918749 | 129 | while(myPID.Compute()) { |
ryanlin97 | 12:921488918749 | 130 | y->write(Output); |
ryanlin97 | 12:921488918749 | 131 | out->printf("curr_yaw %f\n", curr_yaw); |
ryanlin97 | 12:921488918749 | 132 | } |
ryanlin97 | 12:921488918749 | 133 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 134 | } |
ryanlin97 | 12:921488918749 | 135 | |
ryanlin97 | 12:921488918749 | 136 | void Wheelchair::pid_turn(int deg) { |
ryanlin97 | 12:921488918749 | 137 | if(deg > 180) { |
ryanlin97 | 12:921488918749 | 138 | deg -= 360; |
ryanlin97 | 12:921488918749 | 139 | } |
ryanlin97 | 12:921488918749 | 140 | |
ryanlin97 | 12:921488918749 | 141 | else if(deg < -180) { |
ryanlin97 | 12:921488918749 | 142 | deg+=360; |
ryanlin97 | 12:921488918749 | 143 | } |
ryanlin97 | 12:921488918749 | 144 | |
ryanlin97 | 12:921488918749 | 145 | int turnAmt = abs(deg); |
ryanlin97 | 12:921488918749 | 146 | ti->reset(); |
ryanlin97 | 12:921488918749 | 147 | |
ryanlin97 | 12:921488918749 | 148 | if(deg >= 0){ |
ryanlin97 | 12:921488918749 | 149 | Wheelchair::pid_right(turnAmt); |
ryanlin97 | 12:921488918749 | 150 | } |
ryanlin97 | 12:921488918749 | 151 | else { |
ryanlin97 | 12:921488918749 | 152 | Wheelchair::pid_left(turnAmt); |
ryanlin97 | 12:921488918749 | 153 | } |
ryanlin97 | 12:921488918749 | 154 | } |
ryanlin97 | 12:921488918749 | 155 | |
ryanlin97 | 11:d14a1f7f1297 | 156 | double Wheelchair::turn_right(int deg) |
ryanlin97 | 6:0cd57bdd8fbc | 157 | { |
ryanlin97 | 8:381a4ec3fef8 | 158 | bool overturn = false; |
ryanlin97 | 7:5e38d43fbce3 | 159 | out->printf("turning right\n"); |
ryanlin97 | 7:5e38d43fbce3 | 160 | |
ryanlin97 | 11:d14a1f7f1297 | 161 | double start = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 162 | double final = start + deg; |
ryanlin97 | 11:d14a1f7f1297 | 163 | |
ryanlin97 | 11:d14a1f7f1297 | 164 | if(final > 360) { |
ryanlin97 | 11:d14a1f7f1297 | 165 | final -= 360; |
ryanlin97 | 8:381a4ec3fef8 | 166 | overturn = true; |
ryanlin97 | 8:381a4ec3fef8 | 167 | } |
ryanlin97 | 8:381a4ec3fef8 | 168 | |
ryanlin97 | 8:381a4ec3fef8 | 169 | out->printf("start %f, final %f\n", start, final); |
ryanlin97 | 11:d14a1f7f1297 | 170 | |
ryanlin97 | 11:d14a1f7f1297 | 171 | double curr = -1; |
ryanlin97 | 12:921488918749 | 172 | while(curr <= final - 30) { |
ryanlin97 | 8:381a4ec3fef8 | 173 | Wheelchair::right(); |
ryanlin97 | 8:381a4ec3fef8 | 174 | if( out->readable()) { |
ryanlin97 | 8:381a4ec3fef8 | 175 | out->printf("stopped\n"); |
ryanlin97 | 8:381a4ec3fef8 | 176 | Wheelchair::stop(); |
ryanlin97 | 8:381a4ec3fef8 | 177 | return; |
ryanlin97 | 7:5e38d43fbce3 | 178 | } |
ryanlin97 | 11:d14a1f7f1297 | 179 | curr = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 180 | if(overturn && curr > (360 - deg) ) { |
ryanlin97 | 11:d14a1f7f1297 | 181 | curr = 0; |
ryanlin97 | 6:0cd57bdd8fbc | 182 | } |
ryanlin97 | 6:0cd57bdd8fbc | 183 | } |
ryanlin97 | 11:d14a1f7f1297 | 184 | |
ryanlin97 | 11:d14a1f7f1297 | 185 | out->printf("done turning start %f final %f\n", start, final); |
ryanlin97 | 10:e5463c11e0a0 | 186 | Wheelchair::stop(); |
ryanlin97 | 11:d14a1f7f1297 | 187 | |
ryanlin97 | 12:921488918749 | 188 | //delete me |
ryanlin97 | 12:921488918749 | 189 | wait(5); |
ryanlin97 | 12:921488918749 | 190 | |
ryanlin97 | 12:921488918749 | 191 | float correction = final - curr_yaw; |
ryanlin97 | 12:921488918749 | 192 | out->printf("final pos %f actual pos %f\n", final, curr_yaw); |
ryanlin97 | 12:921488918749 | 193 | Wheelchair::turn_left(abs(correction)); |
ryanlin97 | 12:921488918749 | 194 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 195 | |
ryanlin97 | 12:921488918749 | 196 | wait(5); |
ryanlin97 | 12:921488918749 | 197 | out->printf("curr_yaw %f\n", curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 198 | return final; |
ryanlin97 | 6:0cd57bdd8fbc | 199 | } |
ryanlin97 | 6:0cd57bdd8fbc | 200 | |
ryanlin97 | 11:d14a1f7f1297 | 201 | double Wheelchair::turn_left(int deg) |
ryanlin97 | 6:0cd57bdd8fbc | 202 | { |
ryanlin97 | 8:381a4ec3fef8 | 203 | bool overturn = false; |
ryanlin97 | 8:381a4ec3fef8 | 204 | out->printf("turning left\n"); |
ryanlin97 | 8:381a4ec3fef8 | 205 | |
ryanlin97 | 12:921488918749 | 206 | double start = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 207 | double final = start - deg; |
ryanlin97 | 8:381a4ec3fef8 | 208 | |
ryanlin97 | 11:d14a1f7f1297 | 209 | if(final < 0) { |
ryanlin97 | 11:d14a1f7f1297 | 210 | final += 360; |
ryanlin97 | 8:381a4ec3fef8 | 211 | overturn = true; |
ryanlin97 | 8:381a4ec3fef8 | 212 | } |
ryanlin97 | 8:381a4ec3fef8 | 213 | |
ryanlin97 | 11:d14a1f7f1297 | 214 | out->printf("start %f, final %f\n", start, final); |
ryanlin97 | 6:0cd57bdd8fbc | 215 | |
ryanlin97 | 11:d14a1f7f1297 | 216 | double curr = 361; |
ryanlin97 | 11:d14a1f7f1297 | 217 | while(curr >= final) { |
ryanlin97 | 6:0cd57bdd8fbc | 218 | Wheelchair::left(); |
ryanlin97 | 8:381a4ec3fef8 | 219 | if( out->readable()) { |
ryanlin97 | 8:381a4ec3fef8 | 220 | out->printf("stopped\n"); |
ryanlin97 | 8:381a4ec3fef8 | 221 | Wheelchair::stop(); |
ryanlin97 | 8:381a4ec3fef8 | 222 | return; |
ryanlin97 | 8:381a4ec3fef8 | 223 | } |
ryanlin97 | 11:d14a1f7f1297 | 224 | curr = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 225 | |
ryanlin97 | 11:d14a1f7f1297 | 226 | if(overturn && curr >= 0 && curr <= start ) { |
ryanlin97 | 11:d14a1f7f1297 | 227 | curr = 361; |
ryanlin97 | 8:381a4ec3fef8 | 228 | } |
ryanlin97 | 6:0cd57bdd8fbc | 229 | } |
ryanlin97 | 8:381a4ec3fef8 | 230 | |
ryanlin97 | 11:d14a1f7f1297 | 231 | out->printf("done turning start %f final %f\n", start, final); |
ryanlin97 | 10:e5463c11e0a0 | 232 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 233 | |
ryanlin97 | 12:921488918749 | 234 | //delete me |
ryanlin97 | 12:921488918749 | 235 | wait(2); |
ryanlin97 | 12:921488918749 | 236 | /* |
ryanlin97 | 12:921488918749 | 237 | float correction = final - curr_yaw; |
ryanlin97 | 12:921488918749 | 238 | out->printf("final pos %f actual pos %f\n", final, curr_yaw); |
ryanlin97 | 12:921488918749 | 239 | Wheelchair::turn_right(abs(correction)); |
ryanlin97 | 12:921488918749 | 240 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 241 | */ |
ryanlin97 | 11:d14a1f7f1297 | 242 | return final; |
ryanlin97 | 11:d14a1f7f1297 | 243 | } |
ryanlin97 | 11:d14a1f7f1297 | 244 | |
ryanlin97 | 11:d14a1f7f1297 | 245 | void Wheelchair::turn(int deg) |
ryanlin97 | 11:d14a1f7f1297 | 246 | { |
ryanlin97 | 11:d14a1f7f1297 | 247 | if(deg > 180) { |
ryanlin97 | 11:d14a1f7f1297 | 248 | deg -= 360; |
ryanlin97 | 11:d14a1f7f1297 | 249 | } |
ryanlin97 | 11:d14a1f7f1297 | 250 | |
ryanlin97 | 11:d14a1f7f1297 | 251 | else if(deg < -180) { |
ryanlin97 | 11:d14a1f7f1297 | 252 | deg+=360; |
ryanlin97 | 11:d14a1f7f1297 | 253 | } |
ryanlin97 | 11:d14a1f7f1297 | 254 | |
ryanlin97 | 11:d14a1f7f1297 | 255 | double finalpos; |
ryanlin97 | 11:d14a1f7f1297 | 256 | int turnAmt = abs(deg); |
ryanlin97 | 11:d14a1f7f1297 | 257 | //ti->reset(); |
ryanlin97 | 11:d14a1f7f1297 | 258 | /* |
ryanlin97 | 11:d14a1f7f1297 | 259 | if(deg >= 0){ |
ryanlin97 | 11:d14a1f7f1297 | 260 | finalpos = Wheelchair::turn_right(turnAmt); |
ryanlin97 | 11:d14a1f7f1297 | 261 | } |
ryanlin97 | 11:d14a1f7f1297 | 262 | else { |
ryanlin97 | 11:d14a1f7f1297 | 263 | finalpos = Wheelchair::turn_left(turnAmt); |
ryanlin97 | 11:d14a1f7f1297 | 264 | } |
ryanlin97 | 11:d14a1f7f1297 | 265 | */ |
ryanlin97 | 11:d14a1f7f1297 | 266 | wait(2); |
ryanlin97 | 11:d14a1f7f1297 | 267 | |
ryanlin97 | 11:d14a1f7f1297 | 268 | float correction = finalpos - curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 269 | out->printf("final pos %f actual pos %f\n", finalpos, curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 270 | |
ryanlin97 | 11:d14a1f7f1297 | 271 | |
ryanlin97 | 11:d14a1f7f1297 | 272 | //if(abs(correction) > turn_precision) { |
ryanlin97 | 11:d14a1f7f1297 | 273 | out->printf("correcting %f\n", correction); |
ryanlin97 | 11:d14a1f7f1297 | 274 | //ti->reset(); |
ryanlin97 | 11:d14a1f7f1297 | 275 | Wheelchair::turn_left(curr_yaw - finalpos); |
ryanlin97 | 11:d14a1f7f1297 | 276 | return; |
ryanlin97 | 11:d14a1f7f1297 | 277 | //} |
ryanlin97 | 11:d14a1f7f1297 | 278 | |
ryanlin97 | 6:0cd57bdd8fbc | 279 | } |
ryanlin97 | 8:381a4ec3fef8 | 280 | |
ryanlin97 | 12:921488918749 | 281 | float Wheelchair::getDistance() { |
ryanlin97 | 12:921488918749 | 282 | return wheel->getDistance(Diameter); |
ryanlin97 | 12:921488918749 | 283 | } |
ryanlin97 | 12:921488918749 | 284 | |
ryanlin97 | 12:921488918749 | 285 | void Wheelchair::resetDistance(){ |
ryanlin97 | 12:921488918749 | 286 | wheel->reset(); |
ryanlin97 | 12:921488918749 | 287 | } |
ryanlin97 | 10:e5463c11e0a0 | 288 | |
ryanlin97 | 12:921488918749 | 289 |