pid foward back and reverse
Dependencies: PID QEI chair_BNO055 ros_lib_kinetic
Fork of wheelchaircontrol by
wheelchair.cpp@17:7f3b69300bb6, 2018-08-28 (annotated)
- Committer:
- jvfausto
- Date:
- Tue Aug 28 23:24:08 2018 +0000
- Revision:
- 17:7f3b69300bb6
- Parent:
- 14:9caca9fde9b0
- Child:
- 18:663b6d693252
with pid left, right and foward
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryanlin97 | 0:fc0c4a184482 | 1 | #include "wheelchair.h" |
jvfausto | 17:7f3b69300bb6 | 2 | Serial qei(D1, D0); |
ryanlin97 | 11:d14a1f7f1297 | 3 | |
ryanlin97 | 10:e5463c11e0a0 | 4 | bool manual_drive = false; |
ryanlin97 | 11:d14a1f7f1297 | 5 | volatile float north; |
ryanlin97 | 12:921488918749 | 6 | //volatile double curr_yaw; |
ryanlin97 | 12:921488918749 | 7 | double curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 8 | double encoder_distance; |
jvfausto | 17:7f3b69300bb6 | 9 | char myString[64]; |
jvfausto | 17:7f3b69300bb6 | 10 | double Setpoint, Output, Input; |
jvfausto | 17:7f3b69300bb6 | 11 | double pid_yaw, Distance, Setpoint2; |
jvfausto | 17:7f3b69300bb6 | 12 | PID myPID(&pid_yaw, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT); |
jvfausto | 17:7f3b69300bb6 | 13 | PID myPIDDistance(&encoder_distance, &Output, &Setpoint2, 5.5, .00, 0.0036, P_ON_E, DIRECT); |
jvfausto | 17:7f3b69300bb6 | 14 | //QEI wheel_right(D0, D1, NC, 450); |
ryanlin97 | 11:d14a1f7f1297 | 15 | void Wheelchair::compass_thread() { |
ryanlin97 | 11:d14a1f7f1297 | 16 | curr_yaw = imu->yaw(); |
ryanlin97 | 11:d14a1f7f1297 | 17 | north = boxcar(imu->angle_north()); |
jvfausto | 17:7f3b69300bb6 | 18 | |
ryanlin97 | 11:d14a1f7f1297 | 19 | } |
jvfausto | 17:7f3b69300bb6 | 20 | void Wheelchair::distance_thread() { |
jvfausto | 17:7f3b69300bb6 | 21 | /* int i; |
jvfausto | 17:7f3b69300bb6 | 22 | qei.putc('h'); |
jvfausto | 17:7f3b69300bb6 | 23 | //qei.gets(myString, 10); |
jvfausto | 17:7f3b69300bb6 | 24 | ti->reset(); |
jvfausto | 17:7f3b69300bb6 | 25 | |
jvfausto | 17:7f3b69300bb6 | 26 | for (i=0; myString[i-1] != '\n'; i++) { |
jvfausto | 17:7f3b69300bb6 | 27 | while (true) { |
jvfausto | 17:7f3b69300bb6 | 28 | //pc.printf("%f\r\n", ti.read()); |
jvfausto | 17:7f3b69300bb6 | 29 | if (ti->read() > .02) break; |
jvfausto | 17:7f3b69300bb6 | 30 | if (qei.readable()) { |
jvfausto | 17:7f3b69300bb6 | 31 | myString[i]= qei.getc(); |
jvfausto | 17:7f3b69300bb6 | 32 | break; |
jvfausto | 17:7f3b69300bb6 | 33 | } |
jvfausto | 17:7f3b69300bb6 | 34 | } |
jvfausto | 17:7f3b69300bb6 | 35 | } |
jvfausto | 17:7f3b69300bb6 | 36 | myString[i-1] = 0; |
jvfausto | 17:7f3b69300bb6 | 37 | encoder_distance = atof(myString); |
jvfausto | 17:7f3b69300bb6 | 38 | //out->printf("displacement = %f\r\n", encoder_distance); |
jvfausto | 17:7f3b69300bb6 | 39 | for(i = 0; i < 64; i++) |
jvfausto | 17:7f3b69300bb6 | 40 | { |
jvfausto | 17:7f3b69300bb6 | 41 | myString[i] = 0; |
jvfausto | 17:7f3b69300bb6 | 42 | } */ |
jvfausto | 17:7f3b69300bb6 | 43 | } |
ryanlin97 | 11:d14a1f7f1297 | 44 | |
ryanlin97 | 8:381a4ec3fef8 | 45 | Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time ) |
ryanlin97 | 1:c0beadca1617 | 46 | { |
ryanlin97 | 3:a5e71bfdb492 | 47 | x = new PwmOut(xPin); |
ryanlin97 | 3:a5e71bfdb492 | 48 | y = new PwmOut(yPin); |
ryanlin97 | 11:d14a1f7f1297 | 49 | imu = new chair_BNO055(pc, time); |
ryanlin97 | 11:d14a1f7f1297 | 50 | //imu = new chair_MPU9250(pc, time); |
ryanlin97 | 11:d14a1f7f1297 | 51 | Wheelchair::stop(); |
ryanlin97 | 7:5e38d43fbce3 | 52 | imu->setup(); |
ryanlin97 | 7:5e38d43fbce3 | 53 | out = pc; |
jvfausto | 17:7f3b69300bb6 | 54 | out->printf("wheelchair setup done \r\n"); |
ryanlin97 | 11:d14a1f7f1297 | 55 | ti = time; |
ryanlin97 | 14:9caca9fde9b0 | 56 | wheel = new QEI(Encoder1, Encoder2, NC, EncoderReadRate); |
ryanlin97 | 12:921488918749 | 57 | myPID.SetMode(AUTOMATIC); |
ryanlin97 | 1:c0beadca1617 | 58 | } |
ryanlin97 | 6:0cd57bdd8fbc | 59 | |
ryanlin97 | 3:a5e71bfdb492 | 60 | /* |
ryanlin97 | 3:a5e71bfdb492 | 61 | * joystick has analog out of 200-700, scale values between 1.3 and 3.3 |
ryanlin97 | 3:a5e71bfdb492 | 62 | */ |
ryanlin97 | 3:a5e71bfdb492 | 63 | void Wheelchair::move(float x_coor, float y_coor) |
ryanlin97 | 1:c0beadca1617 | 64 | { |
ryanlin97 | 6:0cd57bdd8fbc | 65 | |
ryanlin97 | 4:29a27953fe70 | 66 | float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f; |
ryanlin97 | 4:29a27953fe70 | 67 | float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f; |
ryanlin97 | 11:d14a1f7f1297 | 68 | |
ryanlin97 | 11:d14a1f7f1297 | 69 | // lowPass(scaled_x); |
ryanlin97 | 11:d14a1f7f1297 | 70 | //lowPass(scaled_y); |
ryanlin97 | 11:d14a1f7f1297 | 71 | |
ryanlin97 | 4:29a27953fe70 | 72 | x->write(scaled_x); |
ryanlin97 | 4:29a27953fe70 | 73 | y->write(scaled_y); |
ryanlin97 | 11:d14a1f7f1297 | 74 | |
jvfausto | 17:7f3b69300bb6 | 75 | //out->printf("yaw %f\r\r\n", imu->yaw()); |
ryanlin97 | 1:c0beadca1617 | 76 | |
ryanlin97 | 5:e0ccaab3959a | 77 | } |
ryanlin97 | 11:d14a1f7f1297 | 78 | |
ryanlin97 | 1:c0beadca1617 | 79 | void Wheelchair::forward() |
ryanlin97 | 1:c0beadca1617 | 80 | { |
ryanlin97 | 0:fc0c4a184482 | 81 | x->write(high); |
ryanlin97 | 3:a5e71bfdb492 | 82 | y->write(def+offset); |
jvfausto | 17:7f3b69300bb6 | 83 | // out->printf("distance %f\r\n", wheel_right.getDistance(37.5)); |
ryanlin97 | 0:fc0c4a184482 | 84 | } |
ryanlin97 | 0:fc0c4a184482 | 85 | |
ryanlin97 | 1:c0beadca1617 | 86 | void Wheelchair::backward() |
ryanlin97 | 1:c0beadca1617 | 87 | { |
ryanlin97 | 0:fc0c4a184482 | 88 | x->write(low); |
ryanlin97 | 0:fc0c4a184482 | 89 | y->write(def); |
ryanlin97 | 0:fc0c4a184482 | 90 | } |
ryanlin97 | 0:fc0c4a184482 | 91 | |
ryanlin97 | 1:c0beadca1617 | 92 | void Wheelchair::right() |
ryanlin97 | 1:c0beadca1617 | 93 | { |
ryanlin97 | 0:fc0c4a184482 | 94 | x->write(def); |
ryanlin97 | 11:d14a1f7f1297 | 95 | y->write(low); |
ryanlin97 | 0:fc0c4a184482 | 96 | } |
ryanlin97 | 0:fc0c4a184482 | 97 | |
ryanlin97 | 1:c0beadca1617 | 98 | void Wheelchair::left() |
ryanlin97 | 1:c0beadca1617 | 99 | { |
ryanlin97 | 0:fc0c4a184482 | 100 | x->write(def); |
ryanlin97 | 11:d14a1f7f1297 | 101 | y->write(high); |
ryanlin97 | 0:fc0c4a184482 | 102 | } |
ryanlin97 | 0:fc0c4a184482 | 103 | |
ryanlin97 | 1:c0beadca1617 | 104 | void Wheelchair::stop() |
ryanlin97 | 1:c0beadca1617 | 105 | { |
ryanlin97 | 0:fc0c4a184482 | 106 | x->write(def); |
ryanlin97 | 0:fc0c4a184482 | 107 | y->write(def); |
ryanlin97 | 6:0cd57bdd8fbc | 108 | } |
ryanlin97 | 11:d14a1f7f1297 | 109 | // counter clockwise is - |
ryanlin97 | 11:d14a1f7f1297 | 110 | // clockwise is + |
ryanlin97 | 12:921488918749 | 111 | void Wheelchair::pid_right(int deg) |
ryanlin97 | 12:921488918749 | 112 | { |
ryanlin97 | 12:921488918749 | 113 | bool overturn = false; |
ryanlin97 | 12:921488918749 | 114 | |
jvfausto | 17:7f3b69300bb6 | 115 | out->printf("pid right\r\r\n"); |
ryanlin97 | 12:921488918749 | 116 | x->write(def); |
ryanlin97 | 12:921488918749 | 117 | Setpoint = curr_yaw + deg; |
jvfausto | 17:7f3b69300bb6 | 118 | pid_yaw = curr_yaw; |
ryanlin97 | 12:921488918749 | 119 | if(Setpoint > 360) { |
jvfausto | 17:7f3b69300bb6 | 120 | // Setpoint -= 360; |
ryanlin97 | 12:921488918749 | 121 | overturn = true; |
ryanlin97 | 12:921488918749 | 122 | } |
jvfausto | 17:7f3b69300bb6 | 123 | myPID.SetTunings(5.5,0, 0.00345); |
jvfausto | 17:7f3b69300bb6 | 124 | myPID.SetOutputLimits(0, def-low); |
ryanlin97 | 12:921488918749 | 125 | myPID.SetControllerDirection(REVERSE); |
jvfausto | 17:7f3b69300bb6 | 126 | while(pid_yaw < Setpoint - 3){//curr_yaw <= Setpoint) { |
jvfausto | 17:7f3b69300bb6 | 127 | if(overturn && curr_yaw < Setpoint-deg-1) |
jvfausto | 17:7f3b69300bb6 | 128 | { |
jvfausto | 17:7f3b69300bb6 | 129 | pid_yaw = curr_yaw + 360; |
jvfausto | 17:7f3b69300bb6 | 130 | } |
jvfausto | 17:7f3b69300bb6 | 131 | else |
jvfausto | 17:7f3b69300bb6 | 132 | pid_yaw = curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 133 | myPID.Compute(); |
jvfausto | 17:7f3b69300bb6 | 134 | double tempor = Output+low; |
jvfausto | 17:7f3b69300bb6 | 135 | y->write(tempor); |
jvfausto | 17:7f3b69300bb6 | 136 | out->printf("curr_yaw %f\r\r\n", curr_yaw); |
jvfausto | 17:7f3b69300bb6 | 137 | out->printf("Setpoint = %f \r\n", Setpoint); |
jvfausto | 17:7f3b69300bb6 | 138 | |
jvfausto | 17:7f3b69300bb6 | 139 | wait(.05); |
ryanlin97 | 12:921488918749 | 140 | } |
ryanlin97 | 12:921488918749 | 141 | Wheelchair::stop(); |
jvfausto | 17:7f3b69300bb6 | 142 | out->printf("done \r\n"); |
ryanlin97 | 12:921488918749 | 143 | } |
ryanlin97 | 6:0cd57bdd8fbc | 144 | |
ryanlin97 | 12:921488918749 | 145 | void Wheelchair::pid_left(int deg) |
ryanlin97 | 12:921488918749 | 146 | { |
ryanlin97 | 12:921488918749 | 147 | bool overturn = false; |
ryanlin97 | 12:921488918749 | 148 | |
jvfausto | 17:7f3b69300bb6 | 149 | out->printf("pid Left\r\r\n"); |
ryanlin97 | 12:921488918749 | 150 | x->write(def); |
ryanlin97 | 12:921488918749 | 151 | Setpoint = curr_yaw - deg; |
jvfausto | 17:7f3b69300bb6 | 152 | pid_yaw = curr_yaw; |
ryanlin97 | 12:921488918749 | 153 | if(Setpoint < 0) { |
jvfausto | 17:7f3b69300bb6 | 154 | // Setpoint += 360; |
ryanlin97 | 12:921488918749 | 155 | overturn = true; |
ryanlin97 | 12:921488918749 | 156 | } |
jvfausto | 17:7f3b69300bb6 | 157 | myPID.SetTunings(5,0, 0.004); |
jvfausto | 17:7f3b69300bb6 | 158 | myPID.SetOutputLimits(0,high-def); |
jvfausto | 17:7f3b69300bb6 | 159 | myPID.SetControllerDirection(REVERSE); |
jvfausto | 17:7f3b69300bb6 | 160 | while(pid_yaw > Setpoint + 3){//pid_yaw < Setpoint + 2) { |
jvfausto | 17:7f3b69300bb6 | 161 | myPID.Compute(); |
jvfausto | 17:7f3b69300bb6 | 162 | if(overturn && curr_yaw > Setpoint+deg+1) |
jvfausto | 17:7f3b69300bb6 | 163 | { |
jvfausto | 17:7f3b69300bb6 | 164 | pid_yaw = curr_yaw - 360; |
jvfausto | 17:7f3b69300bb6 | 165 | } |
jvfausto | 17:7f3b69300bb6 | 166 | else |
jvfausto | 17:7f3b69300bb6 | 167 | pid_yaw = curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 168 | double tempor = Output+def; |
jvfausto | 17:7f3b69300bb6 | 169 | |
jvfausto | 17:7f3b69300bb6 | 170 | y->write(tempor); |
jvfausto | 17:7f3b69300bb6 | 171 | out->printf("curr_yaw %f\r\n", curr_yaw); |
jvfausto | 17:7f3b69300bb6 | 172 | wait(.05); |
ryanlin97 | 12:921488918749 | 173 | } |
jvfausto | 17:7f3b69300bb6 | 174 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 175 | } |
ryanlin97 | 12:921488918749 | 176 | |
ryanlin97 | 12:921488918749 | 177 | void Wheelchair::pid_turn(int deg) { |
ryanlin97 | 12:921488918749 | 178 | if(deg > 180) { |
ryanlin97 | 12:921488918749 | 179 | deg -= 360; |
ryanlin97 | 12:921488918749 | 180 | } |
ryanlin97 | 12:921488918749 | 181 | |
ryanlin97 | 12:921488918749 | 182 | else if(deg < -180) { |
ryanlin97 | 12:921488918749 | 183 | deg+=360; |
ryanlin97 | 12:921488918749 | 184 | } |
ryanlin97 | 12:921488918749 | 185 | |
ryanlin97 | 12:921488918749 | 186 | int turnAmt = abs(deg); |
ryanlin97 | 12:921488918749 | 187 | ti->reset(); |
ryanlin97 | 12:921488918749 | 188 | |
ryanlin97 | 12:921488918749 | 189 | if(deg >= 0){ |
ryanlin97 | 12:921488918749 | 190 | Wheelchair::pid_right(turnAmt); |
ryanlin97 | 12:921488918749 | 191 | } |
ryanlin97 | 12:921488918749 | 192 | else { |
ryanlin97 | 12:921488918749 | 193 | Wheelchair::pid_left(turnAmt); |
ryanlin97 | 12:921488918749 | 194 | } |
ryanlin97 | 12:921488918749 | 195 | } |
jvfausto | 17:7f3b69300bb6 | 196 | void Wheelchair::pid_foward(double mm) |
jvfausto | 17:7f3b69300bb6 | 197 | { |
jvfausto | 17:7f3b69300bb6 | 198 | qei.putc('r'); |
jvfausto | 17:7f3b69300bb6 | 199 | out->printf("pid foward\r\n"); |
jvfausto | 17:7f3b69300bb6 | 200 | |
jvfausto | 17:7f3b69300bb6 | 201 | double tempor; |
jvfausto | 17:7f3b69300bb6 | 202 | Setpoint2 = mm; |
jvfausto | 17:7f3b69300bb6 | 203 | |
jvfausto | 17:7f3b69300bb6 | 204 | // Setpoint = wheel_right.getDistance(37.5)+mm; |
jvfausto | 17:7f3b69300bb6 | 205 | myPIDDistance.SetTunings(5,0, 0.004); |
jvfausto | 17:7f3b69300bb6 | 206 | myPIDDistance.SetOutputLimits(0,high-def); |
jvfausto | 17:7f3b69300bb6 | 207 | myPIDDistance.SetControllerDirection(DIRECT); |
jvfausto | 17:7f3b69300bb6 | 208 | y->write(def); |
jvfausto | 17:7f3b69300bb6 | 209 | while(encoder_distance < Setpoint2-5){//pid_yaw < Setpoint + 2) { |
jvfausto | 17:7f3b69300bb6 | 210 | int i; |
jvfausto | 17:7f3b69300bb6 | 211 | qei.putc('h'); |
jvfausto | 17:7f3b69300bb6 | 212 | //qei.gets(myString, 10); |
jvfausto | 17:7f3b69300bb6 | 213 | ti->reset(); |
jvfausto | 17:7f3b69300bb6 | 214 | |
jvfausto | 17:7f3b69300bb6 | 215 | for (i=0; myString[i-1] != '\n'; i++) { |
jvfausto | 17:7f3b69300bb6 | 216 | while (true) { |
jvfausto | 17:7f3b69300bb6 | 217 | //pc.printf("%f\r\n", ti.read()); |
jvfausto | 17:7f3b69300bb6 | 218 | if (ti->read() > .02) break; |
jvfausto | 17:7f3b69300bb6 | 219 | if (qei.readable()) { |
jvfausto | 17:7f3b69300bb6 | 220 | myString[i]= qei.getc(); |
jvfausto | 17:7f3b69300bb6 | 221 | break; |
jvfausto | 17:7f3b69300bb6 | 222 | } |
jvfausto | 17:7f3b69300bb6 | 223 | } |
jvfausto | 17:7f3b69300bb6 | 224 | } |
jvfausto | 17:7f3b69300bb6 | 225 | myString[i-1] = 0; |
jvfausto | 17:7f3b69300bb6 | 226 | double tempor = atof(myString); |
jvfausto | 17:7f3b69300bb6 | 227 | out->printf("displacement = %f\r\n", tempor); |
jvfausto | 17:7f3b69300bb6 | 228 | if(abs(tempor - encoder_distance) < 500) |
jvfausto | 17:7f3b69300bb6 | 229 | { |
jvfausto | 17:7f3b69300bb6 | 230 | encoder_distance = tempor; |
jvfausto | 17:7f3b69300bb6 | 231 | out->printf("this is fine\r\n"); |
jvfausto | 17:7f3b69300bb6 | 232 | } |
jvfausto | 17:7f3b69300bb6 | 233 | for(i = 0; i < 64; i++) |
jvfausto | 17:7f3b69300bb6 | 234 | { |
jvfausto | 17:7f3b69300bb6 | 235 | myString[i] = 0; |
jvfausto | 17:7f3b69300bb6 | 236 | } |
jvfausto | 17:7f3b69300bb6 | 237 | Input = encoder_distance; |
jvfausto | 17:7f3b69300bb6 | 238 | out->printf("input foward %f\r\n", Input); |
jvfausto | 17:7f3b69300bb6 | 239 | wait(.1); |
jvfausto | 17:7f3b69300bb6 | 240 | myPIDDistance.Compute(); |
jvfausto | 17:7f3b69300bb6 | 241 | |
jvfausto | 17:7f3b69300bb6 | 242 | tempor = Output + def; |
jvfausto | 17:7f3b69300bb6 | 243 | x->write(tempor); |
jvfausto | 17:7f3b69300bb6 | 244 | out->printf("distance %f\r\n", encoder_distance); |
jvfausto | 17:7f3b69300bb6 | 245 | } |
jvfausto | 17:7f3b69300bb6 | 246 | |
ryanlin97 | 12:921488918749 | 247 | |
jvfausto | 17:7f3b69300bb6 | 248 | } |
jvfausto | 17:7f3b69300bb6 | 249 | void Wheelchair::pid_reverse(double mm) |
jvfausto | 17:7f3b69300bb6 | 250 | { |
jvfausto | 17:7f3b69300bb6 | 251 | qei.putc('r'); |
jvfausto | 17:7f3b69300bb6 | 252 | |
jvfausto | 17:7f3b69300bb6 | 253 | /* double tempor; |
jvfausto | 17:7f3b69300bb6 | 254 | // Setpoint = wheel_right.getDistance(37.5)+mm; |
jvfausto | 17:7f3b69300bb6 | 255 | myPIDDistance.SetTunings(5,0, 0.004); |
jvfausto | 17:7f3b69300bb6 | 256 | myPIDDistance.SetOutputLimits(0,high-def); |
jvfausto | 17:7f3b69300bb6 | 257 | myPIDDistance.SetControllerDirection(DIRECT); |
jvfausto | 17:7f3b69300bb6 | 258 | y->write(def); |
jvfausto | 17:7f3b69300bb6 | 259 | while(Distance < Setpoint-5){//pid_yaw < Setpoint + 2) { |
jvfausto | 17:7f3b69300bb6 | 260 | tempor = Output + def; |
jvfausto | 17:7f3b69300bb6 | 261 | x->write(tempor); |
jvfausto | 17:7f3b69300bb6 | 262 | // out->printf("distance %f\r\n", wheel_right.getDistance(37.5)); |
jvfausto | 17:7f3b69300bb6 | 263 | // Distance = wheel_right.getDistance(37.5); |
jvfausto | 17:7f3b69300bb6 | 264 | wait(.05); |
jvfausto | 17:7f3b69300bb6 | 265 | } */ |
jvfausto | 17:7f3b69300bb6 | 266 | } |
ryanlin97 | 11:d14a1f7f1297 | 267 | double Wheelchair::turn_right(int deg) |
ryanlin97 | 6:0cd57bdd8fbc | 268 | { |
ryanlin97 | 8:381a4ec3fef8 | 269 | bool overturn = false; |
jvfausto | 17:7f3b69300bb6 | 270 | out->printf("turning right\r\n"); |
ryanlin97 | 7:5e38d43fbce3 | 271 | |
ryanlin97 | 11:d14a1f7f1297 | 272 | double start = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 273 | double final = start + deg; |
ryanlin97 | 11:d14a1f7f1297 | 274 | |
ryanlin97 | 11:d14a1f7f1297 | 275 | if(final > 360) { |
ryanlin97 | 11:d14a1f7f1297 | 276 | final -= 360; |
ryanlin97 | 8:381a4ec3fef8 | 277 | overturn = true; |
ryanlin97 | 8:381a4ec3fef8 | 278 | } |
ryanlin97 | 8:381a4ec3fef8 | 279 | |
jvfausto | 17:7f3b69300bb6 | 280 | out->printf("start %f, final %f\r\n", start, final); |
ryanlin97 | 11:d14a1f7f1297 | 281 | |
ryanlin97 | 11:d14a1f7f1297 | 282 | double curr = -1; |
ryanlin97 | 12:921488918749 | 283 | while(curr <= final - 30) { |
ryanlin97 | 8:381a4ec3fef8 | 284 | Wheelchair::right(); |
ryanlin97 | 8:381a4ec3fef8 | 285 | if( out->readable()) { |
jvfausto | 17:7f3b69300bb6 | 286 | out->printf("stopped\r\n"); |
ryanlin97 | 8:381a4ec3fef8 | 287 | Wheelchair::stop(); |
ryanlin97 | 8:381a4ec3fef8 | 288 | return; |
ryanlin97 | 7:5e38d43fbce3 | 289 | } |
ryanlin97 | 11:d14a1f7f1297 | 290 | curr = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 291 | if(overturn && curr > (360 - deg) ) { |
ryanlin97 | 11:d14a1f7f1297 | 292 | curr = 0; |
ryanlin97 | 6:0cd57bdd8fbc | 293 | } |
ryanlin97 | 6:0cd57bdd8fbc | 294 | } |
ryanlin97 | 11:d14a1f7f1297 | 295 | |
jvfausto | 17:7f3b69300bb6 | 296 | out->printf("done turning start %f final %f\r\n", start, final); |
ryanlin97 | 10:e5463c11e0a0 | 297 | Wheelchair::stop(); |
ryanlin97 | 11:d14a1f7f1297 | 298 | |
ryanlin97 | 12:921488918749 | 299 | //delete me |
ryanlin97 | 12:921488918749 | 300 | wait(5); |
ryanlin97 | 12:921488918749 | 301 | |
ryanlin97 | 12:921488918749 | 302 | float correction = final - curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 303 | out->printf("final pos %f actual pos %f\r\n", final, curr_yaw); |
ryanlin97 | 12:921488918749 | 304 | Wheelchair::turn_left(abs(correction)); |
ryanlin97 | 12:921488918749 | 305 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 306 | |
ryanlin97 | 12:921488918749 | 307 | wait(5); |
jvfausto | 17:7f3b69300bb6 | 308 | out->printf("curr_yaw %f\r\n", curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 309 | return final; |
ryanlin97 | 6:0cd57bdd8fbc | 310 | } |
ryanlin97 | 6:0cd57bdd8fbc | 311 | |
ryanlin97 | 11:d14a1f7f1297 | 312 | double Wheelchair::turn_left(int deg) |
ryanlin97 | 6:0cd57bdd8fbc | 313 | { |
ryanlin97 | 8:381a4ec3fef8 | 314 | bool overturn = false; |
jvfausto | 17:7f3b69300bb6 | 315 | out->printf("turning left\r\n"); |
ryanlin97 | 8:381a4ec3fef8 | 316 | |
ryanlin97 | 12:921488918749 | 317 | double start = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 318 | double final = start - deg; |
ryanlin97 | 8:381a4ec3fef8 | 319 | |
ryanlin97 | 11:d14a1f7f1297 | 320 | if(final < 0) { |
ryanlin97 | 11:d14a1f7f1297 | 321 | final += 360; |
ryanlin97 | 8:381a4ec3fef8 | 322 | overturn = true; |
ryanlin97 | 8:381a4ec3fef8 | 323 | } |
ryanlin97 | 8:381a4ec3fef8 | 324 | |
jvfausto | 17:7f3b69300bb6 | 325 | out->printf("start %f, final %f\r\n", start, final); |
ryanlin97 | 6:0cd57bdd8fbc | 326 | |
ryanlin97 | 11:d14a1f7f1297 | 327 | double curr = 361; |
ryanlin97 | 11:d14a1f7f1297 | 328 | while(curr >= final) { |
ryanlin97 | 6:0cd57bdd8fbc | 329 | Wheelchair::left(); |
ryanlin97 | 8:381a4ec3fef8 | 330 | if( out->readable()) { |
jvfausto | 17:7f3b69300bb6 | 331 | out->printf("stopped\r\n"); |
ryanlin97 | 8:381a4ec3fef8 | 332 | Wheelchair::stop(); |
ryanlin97 | 8:381a4ec3fef8 | 333 | return; |
ryanlin97 | 8:381a4ec3fef8 | 334 | } |
ryanlin97 | 11:d14a1f7f1297 | 335 | curr = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 336 | |
ryanlin97 | 11:d14a1f7f1297 | 337 | if(overturn && curr >= 0 && curr <= start ) { |
ryanlin97 | 11:d14a1f7f1297 | 338 | curr = 361; |
ryanlin97 | 8:381a4ec3fef8 | 339 | } |
ryanlin97 | 6:0cd57bdd8fbc | 340 | } |
ryanlin97 | 8:381a4ec3fef8 | 341 | |
jvfausto | 17:7f3b69300bb6 | 342 | out->printf("done turning start %f final %f\r\n", start, final); |
ryanlin97 | 10:e5463c11e0a0 | 343 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 344 | |
ryanlin97 | 12:921488918749 | 345 | //delete me |
ryanlin97 | 12:921488918749 | 346 | wait(2); |
ryanlin97 | 12:921488918749 | 347 | /* |
ryanlin97 | 12:921488918749 | 348 | float correction = final - curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 349 | out->printf("final pos %f actual pos %f\r\n", final, curr_yaw); |
ryanlin97 | 12:921488918749 | 350 | Wheelchair::turn_right(abs(correction)); |
ryanlin97 | 12:921488918749 | 351 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 352 | */ |
ryanlin97 | 11:d14a1f7f1297 | 353 | return final; |
ryanlin97 | 11:d14a1f7f1297 | 354 | } |
ryanlin97 | 11:d14a1f7f1297 | 355 | |
ryanlin97 | 11:d14a1f7f1297 | 356 | void Wheelchair::turn(int deg) |
ryanlin97 | 11:d14a1f7f1297 | 357 | { |
ryanlin97 | 11:d14a1f7f1297 | 358 | if(deg > 180) { |
ryanlin97 | 11:d14a1f7f1297 | 359 | deg -= 360; |
ryanlin97 | 11:d14a1f7f1297 | 360 | } |
ryanlin97 | 11:d14a1f7f1297 | 361 | |
ryanlin97 | 11:d14a1f7f1297 | 362 | else if(deg < -180) { |
ryanlin97 | 11:d14a1f7f1297 | 363 | deg+=360; |
ryanlin97 | 11:d14a1f7f1297 | 364 | } |
ryanlin97 | 11:d14a1f7f1297 | 365 | |
ryanlin97 | 11:d14a1f7f1297 | 366 | double finalpos; |
ryanlin97 | 11:d14a1f7f1297 | 367 | int turnAmt = abs(deg); |
ryanlin97 | 11:d14a1f7f1297 | 368 | //ti->reset(); |
ryanlin97 | 11:d14a1f7f1297 | 369 | /* |
ryanlin97 | 11:d14a1f7f1297 | 370 | if(deg >= 0){ |
ryanlin97 | 11:d14a1f7f1297 | 371 | finalpos = Wheelchair::turn_right(turnAmt); |
ryanlin97 | 11:d14a1f7f1297 | 372 | } |
ryanlin97 | 11:d14a1f7f1297 | 373 | else { |
ryanlin97 | 11:d14a1f7f1297 | 374 | finalpos = Wheelchair::turn_left(turnAmt); |
ryanlin97 | 11:d14a1f7f1297 | 375 | } |
ryanlin97 | 11:d14a1f7f1297 | 376 | */ |
ryanlin97 | 11:d14a1f7f1297 | 377 | wait(2); |
ryanlin97 | 11:d14a1f7f1297 | 378 | |
ryanlin97 | 11:d14a1f7f1297 | 379 | float correction = finalpos - curr_yaw; |
jvfausto | 17:7f3b69300bb6 | 380 | out->printf("final pos %f actual pos %f\r\n", finalpos, curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 381 | |
ryanlin97 | 11:d14a1f7f1297 | 382 | |
ryanlin97 | 11:d14a1f7f1297 | 383 | //if(abs(correction) > turn_precision) { |
jvfausto | 17:7f3b69300bb6 | 384 | out->printf("correcting %f\r\n", correction); |
ryanlin97 | 11:d14a1f7f1297 | 385 | //ti->reset(); |
ryanlin97 | 11:d14a1f7f1297 | 386 | Wheelchair::turn_left(curr_yaw - finalpos); |
ryanlin97 | 11:d14a1f7f1297 | 387 | return; |
ryanlin97 | 11:d14a1f7f1297 | 388 | //} |
ryanlin97 | 11:d14a1f7f1297 | 389 | |
ryanlin97 | 6:0cd57bdd8fbc | 390 | } |
ryanlin97 | 8:381a4ec3fef8 | 391 | |
ryanlin97 | 12:921488918749 | 392 | float Wheelchair::getDistance() { |
ryanlin97 | 12:921488918749 | 393 | return wheel->getDistance(Diameter); |
ryanlin97 | 12:921488918749 | 394 | } |
ryanlin97 | 12:921488918749 | 395 | |
ryanlin97 | 12:921488918749 | 396 | void Wheelchair::resetDistance(){ |
ryanlin97 | 12:921488918749 | 397 | wheel->reset(); |
ryanlin97 | 12:921488918749 | 398 | } |
ryanlin97 | 10:e5463c11e0a0 | 399 | |
ryanlin97 | 12:921488918749 | 400 |