Isabella Gomez Torres / Mbed OS Version1-3

Integrated IMU6050 + ToF(side, down, front, back) + comments + main

Dependencies:   Version1-4

main.cpp@19:7ead04523f89, 2019-07-02 (annotated)

Committer:
t1jain
Date:
Tue Jul 02 17:53:42 2019 +0000
Revision:
19:7ead04523f89
Parent:
18:94ae9ca5a709
Child:
20:bd257ffdef24
Collated code for down ToF, side ToF, emergency button, Watchdog

Who changed what in which revision?

UserRevisionLine numberNew contents of line
t1jain 19:7ead04523f89 1 /**************************
t1jain 19:7ead04523f89 2 * Version 1.0 *
t1jain 19:7ead04523f89 3 **************************/
t1jain 19:7ead04523f89 4
ryanlin97 0:7e6b349182bc 5 #include "wheelchair.h"
ryanlin97 0:7e6b349182bc 6
t1jain 17:770a161346ed 7 QEI wheel (D10, D9, NC, 1200); // Initializes right encoder
t1jain 17:770a161346ed 8 DigitalIn pt3(D10, PullUp); // Pull up resistors to read analog signals into digital signals
jvfausto 9:ca11e4db63a7 9 DigitalIn pt4(D9, PullUp);
jvfausto 9:ca11e4db63a7 10
t1jain 18:94ae9ca5a709 11 DigitalIn e_button(D6, PullDown); // Change to PullUp if testing without Emergency Button Connected
jvfausto 8:db780b392bae 12
t1jain 17:770a161346ed 13 QEI wheelS (D7, D8, NC, 1200); // Initializes Left encoder
t1jain 17:770a161346ed 14 DigitalIn pt1(D7, PullUp); // Pull up resistors to read analog signals into digital signals
jvfausto 9:ca11e4db63a7 15 DigitalIn pt2(D8, PullUp);
jvfausto 8:db780b392bae 16
jvfausto 9:ca11e4db63a7 17 int max_velocity;
jvfausto 9:ca11e4db63a7 18
t1jain 17:770a161346ed 19 AnalogIn x(A0); // Initializes analog axis for the joystick
ryanlin97 0:7e6b349182bc 20 AnalogIn y(A1);
ryanlin97 0:7e6b349182bc 21
t1jain 18:94ae9ca5a709 22
t1jain 17:770a161346ed 23 //Watchdog limit should be 0.1; Set to 1 for Testing Only
t1jain 17:770a161346ed 24 double watchdogLimit = 1; // Set timeout limit for watchdog timer in seconds
jvfausto 11:73b4380d82bf 25 int buttonCheck = 0;
jvfausto 11:73b4380d82bf 26 int iteration = 1;
jvfausto 11:73b4380d82bf 27
t1jain 17:770a161346ed 28 DigitalOut up(D12); // Turn up speed mode for joystick
t1jain 17:770a161346ed 29 DigitalOut down(D13); // Turn down speed mode for joystick
t1jain 18:94ae9ca5a709 30
t1jain 18:94ae9ca5a709 31 PwmOut on(PE_6); // Turn Wheelchair On
t1jain 18:94ae9ca5a709 32 PwmOut off(PE_5); // Turn Wheelchair Off
t1jain 18:94ae9ca5a709 33
t1jain 17:770a161346ed 34 bool manual = false; // Turns chair joystic to automatic and viceverza
jvfausto 9:ca11e4db63a7 35
t1jain 17:770a161346ed 36 Serial pc(USBTX, USBRX, 57600); // Serial Monitor
ryanlin97 0:7e6b349182bc 37
t1jain 17:770a161346ed 38 VL53L1X sensor1(PD_13, PD_12, PC_7); // Initializes ToF sensors
jvfausto 11:73b4380d82bf 39 VL53L1X sensor2(PD_13, PD_12, PA_15);
jvfausto 10:b4d68db3ddbd 40 VL53L1X sensor3(PD_13, PD_12, PB_5);
jvfausto 11:73b4380d82bf 41 VL53L1X sensor4(PD_13, PD_12, PF_14);
jvfausto 11:73b4380d82bf 42 VL53L1X sensor5(PD_13, PD_12, PE_11);
jvfausto 10:b4d68db3ddbd 43 VL53L1X sensor6(PD_13, PD_12, PE_13);
jvfausto 10:b4d68db3ddbd 44 VL53L1X sensor7(PD_13, PD_12, D6);
jvfausto 10:b4d68db3ddbd 45 VL53L1X sensor8(PD_13, PD_12, PE_12);
jvfausto 10:b4d68db3ddbd 46 VL53L1X sensor9(PD_13, PD_12, PE_10);
jvfausto 10:b4d68db3ddbd 47 VL53L1X sensor10(PD_13, PD_12, PE_15);
jvfausto 10:b4d68db3ddbd 48 VL53L1X sensor11(PD_13, PD_12, D6);
jvfausto 9:ca11e4db63a7 49 VL53L1X sensor12(PB_11, PB_10, D11);
ryanlin97 5:90bf5f0d86e9 50
jvfausto 9:ca11e4db63a7 51 VL53L1X* ToF[12] = {&sensor1, &sensor2, &sensor3, &sensor4, &sensor5, &sensor6,
t1jain 17:770a161346ed 52 &sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12}; // Puts ToF sensor pointers into an array
jvfausto 9:ca11e4db63a7 53 VL53L1X** ToFT = ToF;
ryanlin97 0:7e6b349182bc 54
t1jain 17:770a161346ed 55 Timer t; // Initialize time object t
t1jain 17:770a161346ed 56 EventQueue queue; // Class to organize threads
t1jain 17:770a161346ed 57 Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS, ToFT); // Initialize wheelchair object
t1jain 17:770a161346ed 58 Thread compass; // Thread for compass
t1jain 17:770a161346ed 59 Thread velocity; // Thread for velosity
t1jain 17:770a161346ed 60 Thread ToFSafe; // Thread for safety stuff
t1jain 18:94ae9ca5a709 61 Thread emergencyButton; // Thread to check button state and reset device
ryanlin97 0:7e6b349182bc 62
ryanlin97 5:90bf5f0d86e9 63
ryanlin97 0:7e6b349182bc 64 int main(void)
jvfausto 9:ca11e4db63a7 65 {
jvfausto 9:ca11e4db63a7 66 /* nh.initNode();
jvfausto 9:ca11e4db63a7 67 nh.advertise(chatter);
jvfausto 9:ca11e4db63a7 68 nh.advertise(chatter2);
jvfausto 9:ca11e4db63a7 69 nh.subscribe(sub);*/
t1jain 17:770a161346ed 70
jvfausto 9:ca11e4db63a7 71 pc.printf("before starting\r\n");
t1jain 18:94ae9ca5a709 72 //queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); // Sets up sampling frequency of the compass thread
t1jain 18:94ae9ca5a709 73 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); // Sets up sampling frequency of the velocity thread
t1jain 18:94ae9ca5a709 74 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::ToFSafe_thread); // Sets up sampling frequency of the ToF safety thread
t1jain 18:94ae9ca5a709 75 //queue.call_every(200, rosCom_thread); // Sets up sampling frequency of the ROS com thread
t1jain 18:94ae9ca5a709 76 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::emergencyButton_thread); // Sets up sampling frequency of the emergency button thread
t1jain 18:94ae9ca5a709 77
ryanlin97 0:7e6b349182bc 78 t.reset();
t1jain 18:94ae9ca5a709 79 //compass.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the compass thread
t1jain 18:94ae9ca5a709 80 velocity.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the velocity thread
t1jain 18:94ae9ca5a709 81 ToFSafe.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the ROS com thread
t1jain 18:94ae9ca5a709 82 //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the ROS com thread
t1jain 18:94ae9ca5a709 83 emergencyButton.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the emergency button thread
t1jain 18:94ae9ca5a709 84
jvfausto 9:ca11e4db63a7 85 pc.printf("After starting\r\n");
jvfausto 9:ca11e4db63a7 86
jvfausto 9:ca11e4db63a7 87 //added
jvfausto 9:ca11e4db63a7 88 // int emerg_button = e_button;
jvfausto 13:7fe71170d157 89 Watchdog dog; // Creates Watchdog object
jvfausto 13:7fe71170d157 90 dog.Configure(watchdogLimit); // Configures timeout for Watchdog
jvfausto 13:7fe71170d157 91 pc.printf("Code initiated\n");
jvfausto 9:ca11e4db63a7 92 int set = 0;
ryanlin97 0:7e6b349182bc 93 while(1) {
ryanlin97 0:7e6b349182bc 94 if( pc.readable()) {
jvfausto 9:ca11e4db63a7 95 set = 1;
t1jain 17:770a161346ed 96 char c = pc.getc(); // Read the instruction sent
ryanlin97 0:7e6b349182bc 97 if( c == 'w') {
t1jain 17:770a161346ed 98 smart.forward(); // Move foward
jvfausto 9:ca11e4db63a7 99
ryanlin97 0:7e6b349182bc 100 }
ryanlin97 0:7e6b349182bc 101 else if( c == 'a') {
t1jain 17:770a161346ed 102 smart.left(); // Turn left
ryanlin97 0:7e6b349182bc 103 }
jvfausto 9:ca11e4db63a7 104 else if( c == 'd') {
t1jain 17:770a161346ed 105 smart.right(); // Turn right
ryanlin97 0:7e6b349182bc 106 }
jvfausto 9:ca11e4db63a7 107 else if( c == 's') {
t1jain 17:770a161346ed 108 smart.backward(); // Turn backwards
jvfausto 9:ca11e4db63a7 109 }
jvfausto 9:ca11e4db63a7 110
jvfausto 9:ca11e4db63a7 111 else if( c == 't') {
jvfausto 9:ca11e4db63a7 112 smart.pid_twistA();
jvfausto 9:ca11e4db63a7 113 } else if(c == 'v'){
jvfausto 9:ca11e4db63a7 114 smart.showOdom();
t1jain 17:770a161346ed 115 } else if(c == 'o') { // Turns on chair
jvfausto 7:04f93e6b929f 116 pc.printf("turning on\r\n");
ryanlin97 6:e9b1684a9c00 117 on = 1;
ryanlin97 6:e9b1684a9c00 118 wait(1);
ryanlin97 6:e9b1684a9c00 119 on = 0;
t1jain 17:770a161346ed 120 } else if(c == 'f') { // Turns off chair
jvfausto 7:04f93e6b929f 121 pc.printf("turning off\r\n");
ryanlin97 6:e9b1684a9c00 122 off = 1;
ryanlin97 6:e9b1684a9c00 123 wait(1);
ryanlin97 6:e9b1684a9c00 124 off = 0;
jvfausto 9:ca11e4db63a7 125
t1jain 17:770a161346ed 126 } else if(c == 'k'){ // Sends command to go to the kitchen
jvfausto 9:ca11e4db63a7 127 smart.pid_twistV();
t1jain 17:770a161346ed 128 } else if( c == 'm' || manual) { // Turns wheelchair to joystick
jvfausto 7:04f93e6b929f 129 pc.printf("turning on joystick\r\n");
ryanlin97 0:7e6b349182bc 130 manual = true;
ryanlin97 0:7e6b349182bc 131 t.reset();
ryanlin97 0:7e6b349182bc 132 while(manual) {
t1jain 17:770a161346ed 133 smart.move(x,y); // Reads from joystick and moves
ryanlin97 0:7e6b349182bc 134 if( pc.readable()) {
ryanlin97 0:7e6b349182bc 135 char d = pc.getc();
t1jain 17:770a161346ed 136 if( d == 'm') { // Turns wheelchair from joystick into auto
jvfausto 7:04f93e6b929f 137 pc.printf("turning off joystick\r\n");
ryanlin97 0:7e6b349182bc 138 manual = false;
ryanlin97 0:7e6b349182bc 139 }
ryanlin97 0:7e6b349182bc 140 }
jvfausto 7:04f93e6b929f 141 }
ryanlin97 0:7e6b349182bc 142 }
jvfausto 9:ca11e4db63a7 143 else {
jvfausto 9:ca11e4db63a7 144 pc.printf("none \r\n");
t1jain 17:770a161346ed 145 smart.stop(); // If nothing else is happening stop the chair
ryanlin97 0:7e6b349182bc 146 }
ryanlin97 0:7e6b349182bc 147 }
jvfausto 9:ca11e4db63a7 148 else {
jvfausto 9:ca11e4db63a7 149
t1jain 17:770a161346ed 150 smart.stop(); // If nothing else is happening stop the chair
jvfausto 9:ca11e4db63a7 151 }
jvfausto 11:73b4380d82bf 152
ryanlin97 0:7e6b349182bc 153 wait(process);
jvfausto 11:73b4380d82bf 154
jvfausto 13:7fe71170d157 155 t.stop();
t1jain 14:67133c127740 156 //pc.printf("Time elapsed: %f seconds and iteration = %d\n", t.read(), iteration);
t1jain 17:770a161346ed 157 dog.Service(); // Service the Watchdog so it does not cause a system reset - "Kicking"/"Feeding" the dog
jvfausto 13:7fe71170d157 158
ryanlin97 0:7e6b349182bc 159 }
ryanlin97 0:7e6b349182bc 160 }
ryanlin97 0:7e6b349182bc 161