![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Integrated IMU6050 + ToF(side, down, front, back) + comments + main
Diff: main.cpp
- Revision:
- 21:b438961f85d5
- Parent:
- 20:bd257ffdef24
- Child:
- 22:d690ed804636
diff -r bd257ffdef24 -r b438961f85d5 main.cpp --- a/main.cpp Tue Jul 02 18:53:53 2019 +0000 +++ b/main.cpp Tue Jul 02 19:19:28 2019 +0000 @@ -1,6 +1,6 @@ -/************************************************************************* - * Version 1.0 * - *************************************************************************/ +/************************************************************************** + * Version 1.0 * + **************************************************************************/ #include "wheelchair.h" Serial pc(USBTX, USBRX, 57600); // Serial Monitor @@ -108,76 +108,86 @@ //added //int emerg_button = e_button; - Watchdog dog; // Creates Watchdog object - dog.Configure(watchdogLimit); // Configures timeout for Watchdog + Watchdog dog; // Creates Watchdog object + dog.Configure(watchdogLimit); // Configures timeout for Watchdog pc.printf("Code initiated\n"); int set = 0; while(1) { if( pc.readable()) { set = 1; - char c = pc.getc(); // Read the instruction sent + char c = pc.getc(); // Read the instruction sent if( c == 'w') { - smart.forward(); // Move foward + smart.forward(); // Move foward } else if( c == 'a') { - smart.left(); // Turn left + smart.left(); // Turn left } else if( c == 'd') { - smart.right(); // Turn right + smart.right(); // Turn right } else if( c == 's') { - smart.backward(); // Turn backwards + smart.backward(); // Turn backwards } else if( c == 't') { smart.pid_twistA(); - } else if(c == 'v'){ + } + + else if(c == 'v'){ smart.showOdom(); - } else if(c == 'o') { // Turns on chair + } + + 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 + } + + else if(c == 'f') { // Turns off chair pc.printf("turning off\r\n"); off = 1; wait(1); - off = 0; + off = 0; + } - } else if(c == 'k'){ // Sends command to go to the kitchen + else if(c == 'k'){ // Sends command to go to the kitchen smart.pid_twistV(); - } else if( c == 'm' || manual) { // Turns wheelchair to joystick + } + + 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 + 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 + if( d == 'm') { // Turns wheelchair from joystick into auto pc.printf("turning off joystick\r\n"); manual = false; } } } } - else { + + else { pc.printf("none \r\n"); - smart.stop(); // If nothing else is happening stop the chair + smart.stop(); // If nothing else is happening stop the chair } } - else { - - smart.stop(); // If nothing else is happening stop the chair + + else { + smart.stop(); // If nothing else is happening stop the chair } wait(process); t.stop(); //pc.printf("Time elapsed: %f seconds, Iteration = %d\n", t.read(), iteration); - dog.Service(); // Service the Watchdog so it does not cause a system reset - "Kicking"/"Feeding" the dog + dog.Service(); // Service the Watchdog so it does not cause a system reset - "Kicking"/"Feeding" the dog } }