![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Where we will test the side ToF sensors
Dependencies: QEI2 PID Watchdog VL53L1X_Filter ros_lib_kinetic
main.cpp
- Committer:
- jvfausto
- Date:
- 2019-04-19
- Revision:
- 9:ca11e4db63a7
- Parent:
- 8:db780b392bae
- Child:
- 10:b4d68db3ddbd
File content as of revision 9:ca11e4db63a7:
#include "wheelchair.h" QEI wheel (D10, D9, NC, 1200); //Initializes right encoder DigitalIn pt3(D10, PullUp); //Pull up resistors to read analog signals into digital signals DigitalIn pt4(D9, PullUp); /*added*/ //DigitalIn e_button(D4); //emergency button will start at HIGH QEI wheelS (D7, D8, NC, 1200); //Initializes Left encoder DigitalIn pt1(D7, PullUp); //Pull up resistors to read analog signals into digital signals DigitalIn pt2(D8, PullUp); int max_velocity; //Timer testAccT; AnalogIn x(A0); //Initializes analog axis for the joystick AnalogIn y(A1); DigitalOut up(D12); //Turn up speed mode for joystick DigitalOut down(D13); //Turn down speed mode for joystick DigitalOut on(D14); //Turn Wheelchair On DigitalOut off(D15); //Turn Wheelchair Off bool manual = false; //Turns chair joystic to automatic and viceverza Serial pc(USBTX, USBRX, 57600); //Serial Monitor VL53L1X sensor1(PB_11, PB_10, D0); //initializes ToF sensors VL53L1X sensor2(PB_11, PB_10, D1); VL53L1X sensor3(PB_11, PB_10, D2); VL53L1X sensor4(PB_11, PB_10, D3); VL53L1X sensor5(PB_11, PB_10, D4); VL53L1X sensor6(PB_11, PB_10, D5); VL53L1X sensor7(PB_11, PB_10, PE_14); VL53L1X sensor8(PB_11, PB_10, PE_12); VL53L1X sensor9(PB_11, PB_10, PE_10); VL53L1X sensor10(PB_11, PB_10, PE_15); VL53L1X sensor11(PB_11, PB_10, D6); VL53L1X sensor12(PB_11, PB_10, D11); VL53L1X* ToF[12] = {&sensor1, &sensor2, &sensor3, &sensor4, &sensor5, &sensor6, &sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12}; //puts ToF sensor pointers into an array VL53L1X** ToFT = ToF; Timer t; //Initialize time object t EventQueue queue; //Class to organize threads Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS, ToFT); //Initialize wheelchair object Thread compass; //Thread for compass Thread velocity; //Thread for velosity Thread assistSafe; //thread for safety stuff int main(void) { /* nh.initNode(); nh.advertise(chatter); nh.advertise(chatter2); nh.subscribe(sub);*/ //testAccT.start(); pc.printf("before starting\r\n"); queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); //Sets up sampling frequency of the compass_thread queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); //Sets up sampling frequency of the velosity_thread queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::assistSafe_thread); //Sets up sampling frequency of the velosity_thread //queue.call_every(200, rosCom_thread); //Sets up sampling frequency of the velosity_thread t.reset(); compass.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the compass thread velocity.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread assistSafe.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread pc.printf("After starting\r\n"); //added // int emerg_button = e_button; int set = 0; while(1) { if( pc.readable()) { set = 1; char c = pc.getc(); //Read the instruction sent if( c == 'w') { smart.forward(); //Move foward } else if( c == 'a') { smart.left(); //Turn left } else if( c == 'd') { smart.right(); //Turn right } else if( c == 's') { smart.backward(); //Turn rackwards } else if( c == 't') { smart.pid_twistA(); } else if(c == 'v'){ smart.showOdom(); } else if(c == 'o') { //Turns on chair pc.printf("turning on\r\n"); on = 1; wait(1); on = 0; } else if(c == 'f') { //Turns off chair pc.printf("turning off\r\n"); off = 1; wait(1); off = 0; } else if(c == 'k'){ //Sends command to go to the kitchen smart.pid_twistV(); } else if( c == 'm' || manual) { //Turns wheelchair to joystick pc.printf("turning on joystick\r\n"); manual = true; t.reset(); while(manual) { smart.move(x,y); //Reads from joystick and moves if( pc.readable()) { char d = pc.getc(); if( d == 'm') { //Turns wheelchair from joystick into auto pc.printf("turning off joystick\r\n"); manual = false; } } } } else { pc.printf("none \r\n"); smart.stop(); //If nothing else is happening stop the chair } } else { smart.stop(); //If nothing else is happening stop the chair } wait(process); } }