Jesus Fausto / wheelchaircontrol1

1

Dependencies:   QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic

Dependents:   wheelchairControlSumer2019

wheelchair.cpp@26:662693bd7f31, 2019-06-27 (annotated)

Committer:
jvfausto
Date:
Thu Jun 27 16:32:12 2019 +0000
Revision:
26:662693bd7f31
Parent:
21:3489cffad196
Child:
27:da718b990837
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jvfausto 21:3489cffad196 1
ryanlin97 0:fc0c4a184482 2 #include "wheelchair.h"
jvfausto 21:3489cffad196 3
jvfausto 21:3489cffad196 4 bool manual_drive = false; // Variable changes between joystick and auto drive
jvfausto 21:3489cffad196 5 double encoder_distance; // Keeps distanse due to original position
jvfausto 21:3489cffad196 6
jvfausto 21:3489cffad196 7 volatile double Setpoint, Output, Input, Input2; // Variables for PID
jvfausto 21:3489cffad196 8 volatile double pid_yaw, Distance, Setpoint2, Output2, encoder_distance2; // Variables for PID
jvfausto 21:3489cffad196 9 volatile double vIn, vOut, vDesired; // Variables for PID Velosity
jvfausto 21:3489cffad196 10 volatile double vInS, vOutS, vDesiredS; // Variables for PID Slave Wheel
jvfausto 21:3489cffad196 11 volatile double yIn, yOut, yDesired; // Variables for PID turn velosity
ryanlin97 11:d14a1f7f1297 12
jvfausto 21:3489cffad196 13 double dist_old, curr_pos; // Variables for odometry position
jvfausto 19:71a6621ee5c3 14
jvfausto 21:3489cffad196 15
jvfausto 21:3489cffad196 16 PID myPID(&pid_yaw, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT); // Angle PID object constructor
jvfausto 21:3489cffad196 17 PID myPIDDistance(&Input, &Output, &Setpoint, 5.5, .00, 0.002, P_ON_E, DIRECT); // Distance PID object constructor
jvfausto 21:3489cffad196 18 PID PIDVelosity(&vIn, &vOut, &vDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Velosity PID Constructor
jvfausto 21:3489cffad196 19 PID PIDSlaveV(&vInS, &vOutS, &vDesiredS, 5.5, .00, .002, P_ON_E, DIRECT); // Slave Velosity PID Constructor
jvfausto 21:3489cffad196 20 PID PIDAngularV(&yIn, &yOut, &yDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Angular Velosity PID Constructor
jvfausto 21:3489cffad196 21
jvfausto 19:71a6621ee5c3 22
jvfausto 21:3489cffad196 23 /* Thread measures current angular position */
jvfausto 21:3489cffad196 24 void Wheelchair::compass_thread()
jvfausto 21:3489cffad196 25 {
ryanlin97 11:d14a1f7f1297 26 curr_yaw = imu->yaw();
jvfausto 21:3489cffad196 27 z_angular = curr_yaw;
jvfausto 21:3489cffad196 28 }
jvfausto 17:7f3b69300bb6 29
jvfausto 21:3489cffad196 30 /* Thread measures velocity of wheels and distance traveled */
jvfausto 21:3489cffad196 31 void Wheelchair::velocity_thread()
ryanlin97 1:c0beadca1617 32 {
jvfausto 21:3489cffad196 33 curr_vel = wheel->getVelocity();
jvfausto 21:3489cffad196 34 curr_velS = wheelS->getVelocity();
jvfausto 21:3489cffad196 35 curr_pos = wheel->getDistance(53.975);
ryanlin97 1:c0beadca1617 36 }
ryanlin97 6:0cd57bdd8fbc 37
jvfausto 21:3489cffad196 38 void Wheelchair::assistSafe_thread()
ryanlin97 1:c0beadca1617 39 {
jvfausto 21:3489cffad196 40 int ToFV[12];
jvfausto 26:662693bd7f31 41 for(int i = 0; i < 6; i++) // reads from the ToF Sensors
jvfausto 21:3489cffad196 42 {
jvfausto 21:3489cffad196 43 ToFV[i] = (*(ToF+i))->readFromOneSensor();
jvfausto 21:3489cffad196 44 //out->printf("%d ", ToFV[i]);
jvfausto 21:3489cffad196 45 }
jvfausto 26:662693bd7f31 46 //out->printf("\r\n");
jvfausto 26:662693bd7f31 47 int sensor1 = ToFV[1];
jvfausto 21:3489cffad196 48 int sensor4 = ToFV[5];
jvfausto 26:662693bd7f31 49 //out->printf("%d, %d\r\n", sensor1, sensor4);
jvfausto 26:662693bd7f31 50 /*if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor1 < curr_vel*curr_vel*1000*1000 ||
jvfausto 26:662693bd7f31 51 2 * maxDecelerationSlow*sensor4 < curr_vel*curr_vel*1000*1000) &&
jvfausto 26:662693bd7f31 52 (sensor1 < 1500 || sensor4 < 1500)) ||
jvfausto 26:662693bd7f31 53 550 > sensor1 || 550 > sensor4)
jvfausto 26:662693bd7f31 54 {
jvfausto 26:662693bd7f31 55 //out->printf("i am in danger\r\n");
jvfausto 26:662693bd7f31 56 if(x->read() > def)
jvfausto 26:662693bd7f31 57 {
jvfausto 26:662693bd7f31 58 x->write(def);
jvfausto 26:662693bd7f31 59 forwardSafety = 1;
jvfausto 26:662693bd7f31 60 }
jvfausto 26:662693bd7f31 61 }
jvfausto 26:662693bd7f31 62 else if(curr_vel > 1 &&((2 * maxDecelerationFast*sensor1 < curr_vel*curr_vel*1000*1000 ||
jvfausto 26:662693bd7f31 63 2 * maxDecelerationFast*sensor4 < curr_vel*curr_vel*1000*1000) &&
jvfausto 21:3489cffad196 64 (sensor1 < 1500 || sensor4 < 1500)) ||
jvfausto 21:3489cffad196 65 550 > sensor1 || 550 > sensor4)
jvfausto 21:3489cffad196 66 {
jvfausto 21:3489cffad196 67 //out->printf("i am in danger\r\n");
jvfausto 21:3489cffad196 68 if(x->read() > def)
jvfausto 21:3489cffad196 69 {
jvfausto 21:3489cffad196 70 x->write(def);
jvfausto 21:3489cffad196 71 forwardSafety = 1;
jvfausto 21:3489cffad196 72 }
jvfausto 21:3489cffad196 73 }
jvfausto 21:3489cffad196 74 else
jvfausto 21:3489cffad196 75 forwardSafety = 0;
jvfausto 26:662693bd7f31 76 }
jvfausto 26:662693bd7f31 77 */
jvfausto 21:3489cffad196 78 }
ryanlin97 6:0cd57bdd8fbc 79
jvfausto 21:3489cffad196 80 /* Constructor for Wheelchair class */
jvfausto 21:3489cffad196 81 Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS,
jvfausto 21:3489cffad196 82 VL53L1X** ToFT)
jvfausto 21:3489cffad196 83 {
jvfausto 21:3489cffad196 84 x_position = 0;
jvfausto 21:3489cffad196 85 y_position = 0;
jvfausto 21:3489cffad196 86 forwardSafety = 0;
jvfausto 21:3489cffad196 87 /* Initializes X and Y variables to Pins */
jvfausto 21:3489cffad196 88 x = new PwmOut(xPin);
jvfausto 21:3489cffad196 89 y = new PwmOut(yPin);
jvfausto 21:3489cffad196 90 /* Initializes IMU Library */
jvfausto 26:662693bd7f31 91 out = pc; // "out" is called for serial monitor
jvfausto 26:662693bd7f31 92 out->printf("on\r\n");
jvfausto 21:3489cffad196 93 imu = new chair_BNO055(pc, time);
jvfausto 21:3489cffad196 94 Wheelchair::stop(); // Wheelchair is initially stationary
jvfausto 21:3489cffad196 95 imu->setup(); // turns on the IMU
jvfausto 21:3489cffad196 96 wheelS = qeiS; // "wheel" is called for encoder
jvfausto 21:3489cffad196 97 wheel = qei;
jvfausto 21:3489cffad196 98 ToF = ToFT; // passes pointer with addresses of ToF sensors
jvfausto 21:3489cffad196 99
jvfausto 21:3489cffad196 100 for(int i = 0; i < 12; i++) // initializes the ToF Sensors
jvfausto 21:3489cffad196 101 {
jvfausto 21:3489cffad196 102 (*(ToF+i))->initReading(0x31+((0x02)*i), 50000);
jvfausto 21:3489cffad196 103 }
jvfausto 21:3489cffad196 104
jvfausto 21:3489cffad196 105 out->printf("wheelchair setup done \r\n"); // Make sure it initialized; prints in serial monitor
jvfausto 21:3489cffad196 106 ti = time;
jvfausto 21:3489cffad196 107
jvfausto 21:3489cffad196 108
jvfausto 21:3489cffad196 109 myPID.SetMode(AUTOMATIC); // PID mode: Automatic
jvfausto 21:3489cffad196 110 }
jvfausto 21:3489cffad196 111
jvfausto 21:3489cffad196 112 /* Move wheelchair with joystick on manual mode */
jvfausto 21:3489cffad196 113 void Wheelchair::move(float x_coor, float y_coor)
jvfausto 21:3489cffad196 114 {
jvfausto 21:3489cffad196 115 /* Scales one joystick measurement to the chair's joystick measurement */
ryanlin97 4:29a27953fe70 116 float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
ryanlin97 4:29a27953fe70 117 float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
jvfausto 21:3489cffad196 118
jvfausto 21:3489cffad196 119 /* Sends the scaled joystic values to the chair */
jvfausto 21:3489cffad196 120 x->write(scaled_x);
ryanlin97 4:29a27953fe70 121 y->write(scaled_y);
ryanlin97 5:e0ccaab3959a 122 }
jvfausto 21:3489cffad196 123
jvfausto 21:3489cffad196 124 /* Automatic mode: move forward and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 125 void Wheelchair::forward()
ryanlin97 1:c0beadca1617 126 {
jvfausto 26:662693bd7f31 127 //printf("current velosity; %f, curr vel S %f\r\n", curr_vel, curr_velS);
jvfausto 21:3489cffad196 128 if(forwardSafety == 0)
jvfausto 21:3489cffad196 129 {
ryanlin97 0:fc0c4a184482 130 x->write(high);
ryanlin97 3:a5e71bfdb492 131 y->write(def+offset);
jvfausto 21:3489cffad196 132 }
jvfausto 26:662693bd7f31 133 out->printf("%f, %f\r\n", curr_pos, wheelS->getDistance(53.975));
ryanlin97 0:fc0c4a184482 134 }
jvfausto 21:3489cffad196 135
jvfausto 21:3489cffad196 136 /* Automatic mode: move in reverse and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 137 void Wheelchair::backward()
ryanlin97 1:c0beadca1617 138 {
ryanlin97 0:fc0c4a184482 139 x->write(low);
ryanlin97 0:fc0c4a184482 140 y->write(def);
ryanlin97 0:fc0c4a184482 141 }
jvfausto 21:3489cffad196 142
jvfausto 21:3489cffad196 143 /* Automatic mode: move right and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 144 void Wheelchair::right()
ryanlin97 1:c0beadca1617 145 {
ryanlin97 0:fc0c4a184482 146 x->write(def);
ryanlin97 11:d14a1f7f1297 147 y->write(low);
ryanlin97 0:fc0c4a184482 148 }
ryanlin97 0:fc0c4a184482 149
jvfausto 21:3489cffad196 150 /* Automatic mode: move left and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 151 void Wheelchair::left()
ryanlin97 1:c0beadca1617 152 {
ryanlin97 0:fc0c4a184482 153 x->write(def);
ryanlin97 11:d14a1f7f1297 154 y->write(high);
ryanlin97 0:fc0c4a184482 155 }
jvfausto 21:3489cffad196 156
jvfausto 21:3489cffad196 157 /* Stop the wheelchair */
jvfausto 21:3489cffad196 158 void Wheelchair::stop()
ryanlin97 1:c0beadca1617 159 {
ryanlin97 0:fc0c4a184482 160 x->write(def);
ryanlin97 0:fc0c4a184482 161 y->write(def);
ryanlin97 6:0cd57bdd8fbc 162 }
jvfausto 21:3489cffad196 163
jvfausto 21:3489cffad196 164 /* Counter-clockwise is -
jvfausto 21:3489cffad196 165 * Clockwise is +
jvfausto 21:3489cffad196 166 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 167 * This constructor takes in an angle from user and adjusts for turning right
jvfausto 21:3489cffad196 168 */
jvfausto 21:3489cffad196 169 void Wheelchair::pid_right(int deg)
ryanlin97 12:921488918749 170 {
jvfausto 21:3489cffad196 171 bool overturn = false; //Boolean if angle over 360˚
ryanlin97 12:921488918749 172
jvfausto 21:3489cffad196 173 out->printf("pid right\r\r\n");
jvfausto 21:3489cffad196 174 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 175 Setpoint = curr_yaw + deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 176 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 177
jvfausto 21:3489cffad196 178 /* Turns on overturn boolean if setpoint over 360˚ */
jvfausto 21:3489cffad196 179 if(Setpoint > 360)
jvfausto 21:3489cffad196 180 {
ryanlin97 12:921488918749 181 overturn = true;
ryanlin97 12:921488918749 182 }
jvfausto 21:3489cffad196 183
jvfausto 21:3489cffad196 184 myPID.SetTunings(5.5,0, 0.0035); // Sets the constants for P and D
jvfausto 21:3489cffad196 185 myPID.SetOutputLimits(0, def-low-.15); // Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 186 myPID.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 187
jvfausto 21:3489cffad196 188 /* PID stops when approaching a litte less than desired angle */
jvfausto 21:3489cffad196 189 while(pid_yaw < Setpoint - 3)
jvfausto 21:3489cffad196 190 {
jvfausto 21:3489cffad196 191 /* PID is set to correct angle range if angle greater than 360˚*/
jvfausto 17:7f3b69300bb6 192 if(overturn && curr_yaw < Setpoint-deg-1)
jvfausto 17:7f3b69300bb6 193 {
jvfausto 21:3489cffad196 194 pid_yaw = curr_yaw + 360;
jvfausto 21:3489cffad196 195 }
jvfausto 21:3489cffad196 196 else
jvfausto 21:3489cffad196 197 {
jvfausto 17:7f3b69300bb6 198 pid_yaw = curr_yaw;
ryanlin97 12:921488918749 199 }
jvfausto 21:3489cffad196 200
jvfausto 21:3489cffad196 201 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 202 double tempor = -Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 203 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 204
jvfausto 21:3489cffad196 205 /* Prints to serial monitor the current angle and setpoint */
jvfausto 21:3489cffad196 206 out->printf("curr_yaw %f\r\r\n", curr_yaw);
jvfausto 21:3489cffad196 207 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 208
jvfausto 21:3489cffad196 209 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 210 }
jvfausto 21:3489cffad196 211
jvfausto 21:3489cffad196 212 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 213 Wheelchair::stop();
jvfausto 21:3489cffad196 214 out->printf("done \r\n");
jvfausto 21:3489cffad196 215 }
jvfausto 21:3489cffad196 216
jvfausto 21:3489cffad196 217 /* Counter-clockwise is -
jvfausto 21:3489cffad196 218 * Clockwise is +
jvfausto 21:3489cffad196 219 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 220 * This constructor takes in an angle from user and adjusts for turning left
jvfausto 21:3489cffad196 221 */
jvfausto 21:3489cffad196 222 void Wheelchair::pid_left(int deg)
ryanlin97 12:921488918749 223 {
jvfausto 21:3489cffad196 224 bool overturn = false; //Boolean if angle under 0˚
ryanlin97 12:921488918749 225
jvfausto 21:3489cffad196 226 out->printf("pid Left\r\r\n");
jvfausto 21:3489cffad196 227 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 228 Setpoint = curr_yaw - deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 229 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 230
jvfausto 21:3489cffad196 231 /* Turns on overturn boolean if setpoint less than 0˚ */
jvfausto 21:3489cffad196 232 if(Setpoint < 0)
jvfausto 21:3489cffad196 233 {
ryanlin97 12:921488918749 234 overturn = true;
ryanlin97 12:921488918749 235 }
jvfausto 21:3489cffad196 236
jvfausto 21:3489cffad196 237 myPID.SetTunings(5,0, 0.004); // Sets the constants for P and D
jvfausto 21:3489cffad196 238 myPID.SetOutputLimits(0,high-def-.12); //Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 239 myPID.SetControllerDirection(REVERSE); // PID mode: Reverse
jvfausto 21:3489cffad196 240
jvfausto 21:3489cffad196 241 /* PID stops when approaching a litte more than desired angle */
jvfausto 21:3489cffad196 242 while(pid_yaw > Setpoint+3)
jvfausto 21:3489cffad196 243 {
jvfausto 21:3489cffad196 244 /* PID is set to correct angle range if angle less than 0˚ */
jvfausto 21:3489cffad196 245 if(overturn && curr_yaw > Setpoint+deg+1)
jvfausto 17:7f3b69300bb6 246 {
jvfausto 17:7f3b69300bb6 247 pid_yaw = curr_yaw - 360;
jvfausto 21:3489cffad196 248 }
jvfausto 21:3489cffad196 249 else
jvfausto 21:3489cffad196 250 {
jvfausto 21:3489cffad196 251 pid_yaw = curr_yaw;
jvfausto 21:3489cffad196 252 }
jvfausto 21:3489cffad196 253
jvfausto 21:3489cffad196 254 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 255 double tempor = Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 256 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 257
jvfausto 21:3489cffad196 258 /* Prints to serial monitor the current angle and setpoint */
jvfausto 17:7f3b69300bb6 259 out->printf("curr_yaw %f\r\n", curr_yaw);
jvfausto 21:3489cffad196 260 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 261
jvfausto 21:3489cffad196 262 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 263 }
jvfausto 21:3489cffad196 264
jvfausto 21:3489cffad196 265 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 266 Wheelchair::stop();
jvfausto 21:3489cffad196 267 out->printf("done \r\n");
ryanlin97 12:921488918749 268
jvfausto 21:3489cffad196 269 }
jvfausto 21:3489cffad196 270
jvfausto 21:3489cffad196 271 /* This constructor determines whether to turn left or right */
jvfausto 21:3489cffad196 272 void Wheelchair::pid_turn(int deg)
jvfausto 21:3489cffad196 273 {
jvfausto 21:3489cffad196 274
jvfausto 21:3489cffad196 275 /* Sets angle to coterminal angle for left turn if deg > 180
jvfausto 21:3489cffad196 276 * Sets angle to coterminal angle for right turn if deg < -180
jvfausto 21:3489cffad196 277 */
jvfausto 21:3489cffad196 278 if(deg > 180)
jvfausto 21:3489cffad196 279 {
ryanlin97 12:921488918749 280 deg -= 360;
ryanlin97 12:921488918749 281 }
jvfausto 21:3489cffad196 282 else if(deg < -180)
jvfausto 21:3489cffad196 283 {
jvfausto 21:3489cffad196 284 deg +=360;
ryanlin97 12:921488918749 285 }
ryanlin97 12:921488918749 286
jvfausto 21:3489cffad196 287 /* Makes sure angle inputted to function is positive */
ryanlin97 12:921488918749 288 int turnAmt = abs(deg);
jvfausto 21:3489cffad196 289
jvfausto 21:3489cffad196 290 /* Calls PID_right if deg > 0, else calls PID_left if deg < 0 */
jvfausto 21:3489cffad196 291 if(deg >= 0)
jvfausto 21:3489cffad196 292 {
jvfausto 21:3489cffad196 293 Wheelchair::pid_right(turnAmt);
jvfausto 21:3489cffad196 294 }
jvfausto 21:3489cffad196 295 else
jvfausto 21:3489cffad196 296 {
jvfausto 21:3489cffad196 297 Wheelchair::pid_left(turnAmt);
jvfausto 21:3489cffad196 298 }
ryanlin97 12:921488918749 299
jvfausto 21:3489cffad196 300 }
jvfausto 21:3489cffad196 301
jvfausto 21:3489cffad196 302 /* This constructor takes in distance to travel and adjust to move forward */
jvfausto 19:71a6621ee5c3 303 void Wheelchair::pid_forward(double mm)
jvfausto 17:7f3b69300bb6 304 {
jvfausto 21:3489cffad196 305 mm -= 20; // Makes sure distance does not overshoot
jvfausto 21:3489cffad196 306 Input = 0; // Initializes input to zero: Test latter w/o
jvfausto 21:3489cffad196 307 wheel->reset(); // Resets encoders so that they start at 0
jvfausto 21:3489cffad196 308
jvfausto 17:7f3b69300bb6 309 out->printf("pid foward\r\n");
jvfausto 21:3489cffad196 310
jvfausto 21:3489cffad196 311 double tempor; // Initializes Temporary variable for x input
jvfausto 21:3489cffad196 312 Setpoint = mm; // Initializes the setpoint to desired value
jvfausto 21:3489cffad196 313
jvfausto 21:3489cffad196 314 myPIDDistance.SetTunings(5.5,0, 0.0015); // Sets constants for P and D
jvfausto 21:3489cffad196 315 myPIDDistance.SetOutputLimits(0,high-def-.15); // Limit set to difference between high and def
jvfausto 21:3489cffad196 316 myPIDDistance.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 317
jvfausto 21:3489cffad196 318 y->write(def+offset); // Update y to make chair stationary
jvfausto 21:3489cffad196 319
jvfausto 21:3489cffad196 320 /* Chair stops moving when Setpoint is reached */
jvfausto 21:3489cffad196 321 while(Input < Setpoint){
jvfausto 21:3489cffad196 322
jvfausto 21:3489cffad196 323 if(out->readable()) // Emergency Break
jvfausto 21:3489cffad196 324 {
jvfausto 21:3489cffad196 325 break;
jvfausto 21:3489cffad196 326 }
jvfausto 17:7f3b69300bb6 327
jvfausto 21:3489cffad196 328 Input = wheel->getDistance(53.975); // Gets distance from Encoder into PID
jvfausto 21:3489cffad196 329 wait(.05); // Slight Delay: *****Test without
jvfausto 21:3489cffad196 330 myPIDDistance.Compute(); // Compute distance traveled by chair
jvfausto 21:3489cffad196 331
jvfausto 21:3489cffad196 332 tempor = Output + def; // Temporary output variable
jvfausto 21:3489cffad196 333 x->write(tempor); // Update x sent to chair
jvfausto 17:7f3b69300bb6 334
jvfausto 21:3489cffad196 335 /* Prints to serial monitor the distance traveled by chair */
jvfausto 19:71a6621ee5c3 336 out->printf("distance %f\r\n", Input);
jvfausto 17:7f3b69300bb6 337 }
ryanlin97 12:921488918749 338
jvfausto 17:7f3b69300bb6 339 }
jvfausto 21:3489cffad196 340
jvfausto 21:3489cffad196 341 /* This constructor returns the relative angular position of chair */
jvfausto 21:3489cffad196 342 double Wheelchair::getTwistZ()
jvfausto 17:7f3b69300bb6 343 {
jvfausto 21:3489cffad196 344 return imu->gyro_z();
jvfausto 21:3489cffad196 345 }
jvfausto 18:663b6d693252 346
jvfausto 21:3489cffad196 347 /* This constructor computes the relative angle for Twist message in ROS */
jvfausto 21:3489cffad196 348 void Wheelchair::pid_twistA()
jvfausto 21:3489cffad196 349 {
jvfausto 21:3489cffad196 350 /* Initialize variables for angle and update x,y sent to chair */
jvfausto 21:3489cffad196 351 char c;
jvfausto 21:3489cffad196 352 double temporA = def;
jvfausto 21:3489cffad196 353 y->write(def);
jvfausto 21:3489cffad196 354 x->write(def);
jvfausto 21:3489cffad196 355
jvfausto 21:3489cffad196 356 PIDAngularV.SetTunings(.00015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 357 PIDAngularV.SetOutputLimits(-.1, .1); // Limit set to be in range specified
jvfausto 21:3489cffad196 358 PIDAngularV.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 359
jvfausto 21:3489cffad196 360 /* Computes angular position of wheelchair while turning */
jvfausto 21:3489cffad196 361 while(1)
jvfausto 21:3489cffad196 362 {
jvfausto 21:3489cffad196 363 yDesired = angularV;
jvfausto 21:3489cffad196 364
jvfausto 21:3489cffad196 365 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 366 * if the desired angle is zero
jvfausto 21:3489cffad196 367 */
jvfausto 21:3489cffad196 368 if(yDesired == 0)
jvfausto 18:663b6d693252 369 {
jvfausto 21:3489cffad196 370 x->write(def);
jvfausto 21:3489cffad196 371 y->write(def);
jvfausto 21:3489cffad196 372 yDesired = 0;
ryanlin97 8:381a4ec3fef8 373 return;
ryanlin97 7:5e38d43fbce3 374 }
jvfausto 21:3489cffad196 375
jvfausto 21:3489cffad196 376 /* Continuously updates with current angle measured by IMU */
jvfausto 21:3489cffad196 377 yIn = imu->gyro_z();
jvfausto 21:3489cffad196 378 PIDAngularV.Compute();
jvfausto 21:3489cffad196 379 temporA += yOut; // Temporary value with the voltage output
jvfausto 21:3489cffad196 380 y->write(temporA); // Update y sent to chair
jvfausto 21:3489cffad196 381
jvfausto 21:3489cffad196 382 //out->printf("temporA: %f, yDesired %f, angle: %f\r\n", temporA, yDesired, imu->gyro_z());
jvfausto 21:3489cffad196 383 wait(.05); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 384 }
jvfausto 21:3489cffad196 385
jvfausto 21:3489cffad196 386 }
ryanlin97 6:0cd57bdd8fbc 387
jvfausto 21:3489cffad196 388 /* This constructor computes the relative velocity for Twist message in ROS */
jvfausto 21:3489cffad196 389 void Wheelchair::pid_twistV()
ryanlin97 6:0cd57bdd8fbc 390 {
jvfausto 21:3489cffad196 391 /* Initializes variables as default */
jvfausto 21:3489cffad196 392 double temporV = def;
jvfausto 26:662693bd7f31 393 double temporS = def+offset;
jvfausto 21:3489cffad196 394 vDesiredS = 0;
jvfausto 21:3489cffad196 395 x->write(def);
jvfausto 21:3489cffad196 396 y->write(def);
jvfausto 21:3489cffad196 397 wheel->reset(); // Resets the encoders
jvfausto 21:3489cffad196 398 /* Sets the constants for P and D */
jvfausto 21:3489cffad196 399 PIDVelosity.SetTunings(.0005,0, 0.00);
jvfausto 26:662693bd7f31 400 PIDSlaveV.SetTunings(.005,0.000001, 0.000001);
jvfausto 21:3489cffad196 401
jvfausto 21:3489cffad196 402 /* Limits to the range specified */
jvfausto 21:3489cffad196 403 PIDVelosity.SetOutputLimits(-.005, .005);
jvfausto 21:3489cffad196 404 PIDSlaveV.SetOutputLimits(-.002, .002);
jvfausto 21:3489cffad196 405
jvfausto 21:3489cffad196 406 /* PID mode: Direct */
jvfausto 21:3489cffad196 407 PIDVelosity.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 408 PIDSlaveV.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 409
jvfausto 21:3489cffad196 410 while(1)
jvfausto 21:3489cffad196 411 {
jvfausto 21:3489cffad196 412 linearV = .7;
jvfausto 21:3489cffad196 413 test1 = linearV*100;
jvfausto 21:3489cffad196 414 vel = curr_vel;
jvfausto 21:3489cffad196 415 vDesired = linearV*100;
jvfausto 21:3489cffad196 416 if(out->readable())
jvfausto 21:3489cffad196 417 return;
jvfausto 21:3489cffad196 418 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 419 * if the velocity is zero
jvfausto 21:3489cffad196 420 */
jvfausto 21:3489cffad196 421 if(linearV == 0)
jvfausto 21:3489cffad196 422 {
jvfausto 21:3489cffad196 423 x->write(def);
jvfausto 21:3489cffad196 424 y->write(def);
ryanlin97 8:381a4ec3fef8 425
jvfausto 21:3489cffad196 426 vel = 0;
jvfausto 21:3489cffad196 427 vDesired = 0;
jvfausto 21:3489cffad196 428 dist_old = 0;
ryanlin97 8:381a4ec3fef8 429 return;
ryanlin97 8:381a4ec3fef8 430 }
jvfausto 21:3489cffad196 431
jvfausto 21:3489cffad196 432 if(vDesired >= 0)
jvfausto 21:3489cffad196 433 {
jvfausto 21:3489cffad196 434 PIDVelosity.SetTunings(.000004,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 435 PIDVelosity.SetOutputLimits(-.002, .002); // Limits to the range specified
jvfausto 21:3489cffad196 436 }
jvfausto 21:3489cffad196 437 else
jvfausto 21:3489cffad196 438 {
jvfausto 21:3489cffad196 439 PIDVelosity.SetTunings(.000015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 440 PIDVelosity.SetOutputLimits(-.0005, .0005); // Limits to range specified
jvfausto 21:3489cffad196 441 }
jvfausto 21:3489cffad196 442
jvfausto 21:3489cffad196 443 /* Sets maximum value of variable to 1 */
jvfausto 21:3489cffad196 444 if(temporV >= 1.5)
jvfausto 21:3489cffad196 445 {
jvfausto 21:3489cffad196 446 temporV = 1.5;
ryanlin97 8:381a4ec3fef8 447 }
jvfausto 21:3489cffad196 448 /* Scales and makes some adjustments to velocity */
jvfausto 21:3489cffad196 449 vIn = curr_vel*100;
jvfausto 21:3489cffad196 450 vInS = curr_vel-curr_velS;
jvfausto 21:3489cffad196 451 PIDVelosity.Compute();
jvfausto 21:3489cffad196 452 PIDSlaveV.Compute();
jvfausto 21:3489cffad196 453 if(forwardSafety == 0)
jvfausto 21:3489cffad196 454 {
jvfausto 21:3489cffad196 455 temporV += vOut;
jvfausto 21:3489cffad196 456 temporS += vOutS;
jvfausto 21:3489cffad196 457
jvfausto 21:3489cffad196 458 /* Updates x,y sent to Wheelchair and for Odometry message in ROS */
jvfausto 21:3489cffad196 459 x->write(temporV);
jvfausto 21:3489cffad196 460 test2 = temporV;
jvfausto 21:3489cffad196 461 y->write(temporS);
jvfausto 21:3489cffad196 462 }
jvfausto 21:3489cffad196 463 else
jvfausto 21:3489cffad196 464 {
jvfausto 21:3489cffad196 465 x->write(def);
jvfausto 21:3489cffad196 466 y->write(def);
jvfausto 21:3489cffad196 467 }
jvfausto 21:3489cffad196 468 //out->printf("Velosity: %f, Velosity2: %f, temporV %f, temporS %f\r\n", curr_vel, curr_velS, temporV, temporS);
jvfausto 21:3489cffad196 469 Wheelchair::odomMsg();
jvfausto 21:3489cffad196 470 wait(.01); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 471 }
ryanlin97 11:d14a1f7f1297 472 }
ryanlin97 11:d14a1f7f1297 473
jvfausto 21:3489cffad196 474 /* This constructor calculates the relative position of the chair everytime the encoders reset
jvfausto 21:3489cffad196 475 * by setting its old position as the origin to calculate the new position
jvfausto 21:3489cffad196 476 */
jvfausto 21:3489cffad196 477 void Wheelchair::odomMsg()
ryanlin97 11:d14a1f7f1297 478 {
jvfausto 21:3489cffad196 479 double dist_new = curr_pos;
jvfausto 21:3489cffad196 480 double dist = dist_new-dist_old;
jvfausto 21:3489cffad196 481 double temp_x = dist*sin(z_angular*3.14159/180);
jvfausto 21:3489cffad196 482 double temp_y = dist*cos(z_angular*3.14159/180);
jvfausto 21:3489cffad196 483
jvfausto 21:3489cffad196 484 x_position += temp_x;
jvfausto 21:3489cffad196 485 y_position += temp_y;
ryanlin97 11:d14a1f7f1297 486
jvfausto 21:3489cffad196 487 dist_old = dist_new;
jvfausto 21:3489cffad196 488 }
jvfausto 21:3489cffad196 489
jvfausto 21:3489cffad196 490 /* This constructor prints the Odometry message to the serial monitor */
jvfausto 21:3489cffad196 491 void Wheelchair::showOdom()
jvfausto 21:3489cffad196 492 {
jvfausto 21:3489cffad196 493 out->printf("x %f, y %f, angle %f", x_position, y_position, z_angular);
jvfausto 21:3489cffad196 494 }
jvfausto 21:3489cffad196 495
jvfausto 21:3489cffad196 496 /* This constructor returns the approximate distance based on the wheel diameter */
jvfausto 21:3489cffad196 497 float Wheelchair::getDistance()
jvfausto 21:3489cffad196 498 {
jvfausto 21:3489cffad196 499 return wheel->getDistance(Diameter);
ryanlin97 6:0cd57bdd8fbc 500 }
ryanlin97 8:381a4ec3fef8 501
jvfausto 21:3489cffad196 502 /* This constructor resets the wheel encoder's */
jvfausto 21:3489cffad196 503 void Wheelchair::resetDistance()
jvfausto 21:3489cffad196 504 {
ryanlin97 12:921488918749 505 wheel->reset();
jvfausto 21:3489cffad196 506 }
jvfausto 21:3489cffad196 507
jvfausto 21:3489cffad196 508
jvfausto 21:3489cffad196 509 /*Predetermined paths For Demmo*/
jvfausto 21:3489cffad196 510 void Wheelchair::desk()
jvfausto 21:3489cffad196 511 {
jvfausto 19:71a6621ee5c3 512 Wheelchair::pid_forward(5461);
jvfausto 19:71a6621ee5c3 513 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 514 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 515 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 516 Wheelchair::pid_forward(3658);
jvfausto 21:3489cffad196 517 }
jvfausto 21:3489cffad196 518
jvfausto 21:3489cffad196 519 void Wheelchair::kitchen()
jvfausto 21:3489cffad196 520 {
jvfausto 19:71a6621ee5c3 521 Wheelchair::pid_forward(5461);
jvfausto 20:f42db4ae16f0 522 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 523 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 524 Wheelchair::pid_left(90);
jvfausto 19:71a6621ee5c3 525 Wheelchair::pid_forward(305);
jvfausto 21:3489cffad196 526 }
jvfausto 21:3489cffad196 527
jvfausto 21:3489cffad196 528 void Wheelchair::desk_to_kitchen()
jvfausto 21:3489cffad196 529 {
jvfausto 19:71a6621ee5c3 530 Wheelchair::pid_right(180);
jvfausto 19:71a6621ee5c3 531 Wheelchair::pid_forward(3700);
jvfausto 21:3489cffad196 532 }