Christian Benitez
/
wheelchaircontrol
Wheelchair control
Fork of wheelchaircontrol by
wheelchair.cpp@5:e0ccaab3959a, 2018-07-17 (annotated)
- Committer:
- ryanlin97
- Date:
- Tue Jul 17 07:19:04 2018 +0000
- Revision:
- 5:e0ccaab3959a
- Parent:
- 4:29a27953fe70
- Child:
- 6:8cd00c26bb47
imu added
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryanlin97 | 0:fc0c4a184482 | 1 | #include "wheelchair.h" |
ryanlin97 | 1:c0beadca1617 | 2 | |
ryanlin97 | 1:c0beadca1617 | 3 | Wheelchair::Wheelchair(PinName xPin, PinName yPin) |
ryanlin97 | 1:c0beadca1617 | 4 | { |
ryanlin97 | 3:a5e71bfdb492 | 5 | x = new PwmOut(xPin); |
ryanlin97 | 3:a5e71bfdb492 | 6 | y = new PwmOut(yPin); |
ryanlin97 | 5:e0ccaab3959a | 7 | imu = new chair_imu(); |
ryanlin97 | 1:c0beadca1617 | 8 | } |
ryanlin97 | 3:a5e71bfdb492 | 9 | /* |
ryanlin97 | 3:a5e71bfdb492 | 10 | * joystick has analog out of 200-700, scale values between 1.3 and 3.3 |
ryanlin97 | 3:a5e71bfdb492 | 11 | */ |
ryanlin97 | 3:a5e71bfdb492 | 12 | void Wheelchair::move(float x_coor, float y_coor) |
ryanlin97 | 1:c0beadca1617 | 13 | { |
ryanlin97 | 5:e0ccaab3959a | 14 | |
ryanlin97 | 4:29a27953fe70 | 15 | float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f; |
ryanlin97 | 4:29a27953fe70 | 16 | float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f; |
ryanlin97 | 4:29a27953fe70 | 17 | x->write(scaled_x); |
ryanlin97 | 4:29a27953fe70 | 18 | y->write(scaled_y); |
ryanlin97 | 3:a5e71bfdb492 | 19 | |
ryanlin97 | 1:c0beadca1617 | 20 | } |
ryanlin97 | 1:c0beadca1617 | 21 | |
ryanlin97 | 5:e0ccaab3959a | 22 | void Wheelchair::turn_right(){ |
ryanlin97 | 5:e0ccaab3959a | 23 | double start = imu->yaw(); |
ryanlin97 | 5:e0ccaab3959a | 24 | double final = start + 90; |
ryanlin97 | 5:e0ccaab3959a | 25 | if(final > 360) |
ryanlin97 | 5:e0ccaab3959a | 26 | final -= 360; |
ryanlin97 | 5:e0ccaab3959a | 27 | |
ryanlin97 | 5:e0ccaab3959a | 28 | while(imu->yaw() <= final) { |
ryanlin97 | 5:e0ccaab3959a | 29 | Wheelchair::right(); |
ryanlin97 | 5:e0ccaab3959a | 30 | } |
ryanlin97 | 5:e0ccaab3959a | 31 | } |
ryanlin97 | 5:e0ccaab3959a | 32 | |
ryanlin97 | 5:e0ccaab3959a | 33 | void Wheelchair::turn_left(){ |
ryanlin97 | 5:e0ccaab3959a | 34 | double start = imu->yaw(); |
ryanlin97 | 5:e0ccaab3959a | 35 | double final = start - 90; |
ryanlin97 | 5:e0ccaab3959a | 36 | if(final <0) |
ryanlin97 | 5:e0ccaab3959a | 37 | final += 360; |
ryanlin97 | 5:e0ccaab3959a | 38 | |
ryanlin97 | 5:e0ccaab3959a | 39 | while(imu->yaw() >= final) { |
ryanlin97 | 5:e0ccaab3959a | 40 | Wheelchair::left(); |
ryanlin97 | 5:e0ccaab3959a | 41 | } |
ryanlin97 | 5:e0ccaab3959a | 42 | } |
ryanlin97 | 1:c0beadca1617 | 43 | void Wheelchair::forward() |
ryanlin97 | 1:c0beadca1617 | 44 | { |
ryanlin97 | 0:fc0c4a184482 | 45 | x->write(high); |
ryanlin97 | 3:a5e71bfdb492 | 46 | y->write(def+offset); |
ryanlin97 | 0:fc0c4a184482 | 47 | } |
ryanlin97 | 0:fc0c4a184482 | 48 | |
ryanlin97 | 1:c0beadca1617 | 49 | void Wheelchair::backward() |
ryanlin97 | 1:c0beadca1617 | 50 | { |
ryanlin97 | 0:fc0c4a184482 | 51 | x->write(low); |
ryanlin97 | 0:fc0c4a184482 | 52 | y->write(def); |
ryanlin97 | 0:fc0c4a184482 | 53 | } |
ryanlin97 | 0:fc0c4a184482 | 54 | |
ryanlin97 | 1:c0beadca1617 | 55 | void Wheelchair::right() |
ryanlin97 | 1:c0beadca1617 | 56 | { |
ryanlin97 | 0:fc0c4a184482 | 57 | x->write(def); |
ryanlin97 | 0:fc0c4a184482 | 58 | y->write(high); |
ryanlin97 | 0:fc0c4a184482 | 59 | } |
ryanlin97 | 0:fc0c4a184482 | 60 | |
ryanlin97 | 1:c0beadca1617 | 61 | void Wheelchair::left() |
ryanlin97 | 1:c0beadca1617 | 62 | { |
ryanlin97 | 0:fc0c4a184482 | 63 | x->write(def); |
ryanlin97 | 0:fc0c4a184482 | 64 | y->write(low); |
ryanlin97 | 0:fc0c4a184482 | 65 | } |
ryanlin97 | 0:fc0c4a184482 | 66 | |
ryanlin97 | 1:c0beadca1617 | 67 | void Wheelchair::stop() |
ryanlin97 | 1:c0beadca1617 | 68 | { |
ryanlin97 | 0:fc0c4a184482 | 69 | x->write(def); |
ryanlin97 | 0:fc0c4a184482 | 70 | y->write(def); |
ryanlin97 | 1:c0beadca1617 | 71 | } |