Jesus Fausto
1
Dependencies: QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic
Dependents: wheelchairControlSumer2019
Diff: wheelchair.cpp
- Revision:
- 21:3489cffad196
- Parent:
- 20:f42db4ae16f0
- Child:
- 26:662693bd7f31
--- a/wheelchair.cpp Fri Aug 31 20:00:01 2018 +0000
+++ b/wheelchair.cpp Fri Apr 19 23:04:01 2019 +0000
@@ -1,440 +1,516 @@
+
#include "wheelchair.h"
+
+bool manual_drive = false; // Variable changes between joystick and auto drive
+double encoder_distance; // Keeps distanse due to original position
+
+volatile double Setpoint, Output, Input, Input2; // Variables for PID
+volatile double pid_yaw, Distance, Setpoint2, Output2, encoder_distance2; // Variables for PID
+volatile double vIn, vOut, vDesired; // Variables for PID Velosity
+volatile double vInS, vOutS, vDesiredS; // Variables for PID Slave Wheel
+volatile double yIn, yOut, yDesired; // Variables for PID turn velosity
-bool manual_drive = false;
-volatile float north;
-//volatile double curr_yaw;
-double curr_yaw;
-double encoder_distance;
-char myString[64];
-volatile double Setpoint, Output, Input, Input2;
-volatile double pid_yaw, Distance, Setpoint2, Output2, encoder_distance2;
-PID myPID(&pid_yaw, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT);
-PID myPIDDistance(&Input, &Output, &Setpoint, 5.5, .00, 0.0025, P_ON_E, DIRECT);
+double dist_old, curr_pos; // Variables for odometry position
+
+PID myPID(&pid_yaw, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT); // Angle PID object constructor
+PID myPIDDistance(&Input, &Output, &Setpoint, 5.5, .00, 0.002, P_ON_E, DIRECT); // Distance PID object constructor
+PID PIDVelosity(&vIn, &vOut, &vDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Velosity PID Constructor
+PID PIDSlaveV(&vInS, &vOutS, &vDesiredS, 5.5, .00, .002, P_ON_E, DIRECT); // Slave Velosity PID Constructor
+PID PIDAngularV(&yIn, &yOut, &yDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Angular Velosity PID Constructor
+
-//PID myPIDDistance2(&Input2, &Output2, &Setpoint2, 5.5, .00, 0.0036, P_ON_E, DIRECT);
-//QEI wheel_right(D0, D1, NC, 450);
-void Wheelchair::compass_thread() {
+/* Thread measures current angular position */
+void Wheelchair::compass_thread()
+{
curr_yaw = imu->yaw();
- north = boxcar(imu->angle_north());
+ z_angular = curr_yaw;
+}
- }
-
-Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei)
+/* Thread measures velocity of wheels and distance traveled */
+void Wheelchair::velocity_thread()
{
- x = new PwmOut(xPin);
- y = new PwmOut(yPin);
- imu = new chair_BNO055(pc, time);
- //imu = new chair_MPU9250(pc, time);
- Wheelchair::stop();
- imu->setup();
- out = pc;
- wheel = qei;
- out->printf("wheelchair setup done \r\n");
- ti = time;
- //wheel = new QEI(Encoder1, Encoder2, NC, EncoderReadRate);
- myPID.SetMode(AUTOMATIC);
+ curr_vel = wheel->getVelocity();
+ curr_velS = wheelS->getVelocity();
+ curr_pos = wheel->getDistance(53.975);
}
-/*
-* joystick has analog out of 200-700, scale values between 1.3 and 3.3
-*/
-void Wheelchair::move(float x_coor, float y_coor)
+void Wheelchair::assistSafe_thread()
{
+ int ToFV[12];
+ for(int i = 0; i < 9; i++) // reads from the ToF Sensors
+ {
+ ToFV[i] = (*(ToF+i))->readFromOneSensor();
+ //out->printf("%d ", ToFV[i]);
+ }
+ out->printf("\r\n");
+ int sensor1 = ToFV[2];
+ int sensor4 = ToFV[5];
+ out->printf("%d, %d\r\n", sensor1, sensor4);
+ if(((2 * maxDeceleration*sensor1 < curr_vel*curr_vel*1000*1000 ||
+ 2 * maxDeceleration*sensor4 < curr_vel*curr_vel*1000*1000) &&
+ (sensor1 < 1500 || sensor4 < 1500)) ||
+ 550 > sensor1 || 550 > sensor4)
+ {
+ //out->printf("i am in danger\r\n");
+ if(x->read() > def)
+ {
+ x->write(def);
+ forwardSafety = 1;
+ }
+ }
+ else
+ forwardSafety = 0;
+
+}
+/* Constructor for Wheelchair class */
+Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS,
+VL53L1X** ToFT)
+{
+ x_position = 0;
+ y_position = 0;
+ forwardSafety = 0;
+ /* Initializes X and Y variables to Pins */
+ x = new PwmOut(xPin);
+ y = new PwmOut(yPin);
+ /* Initializes IMU Library */
+ imu = new chair_BNO055(pc, time);
+ Wheelchair::stop(); // Wheelchair is initially stationary
+ imu->setup(); // turns on the IMU
+ out = pc; // "out" is called for serial monitor
+ wheelS = qeiS; // "wheel" is called for encoder
+ wheel = qei;
+ ToF = ToFT; // passes pointer with addresses of ToF sensors
+
+ for(int i = 0; i < 12; i++) // initializes the ToF Sensors
+ {
+ (*(ToF+i))->initReading(0x31+((0x02)*i), 50000);
+ }
+
+ out->printf("wheelchair setup done \r\n"); // Make sure it initialized; prints in serial monitor
+ ti = time;
+
+
+ myPID.SetMode(AUTOMATIC); // PID mode: Automatic
+}
+
+/* Move wheelchair with joystick on manual mode */
+void Wheelchair::move(float x_coor, float y_coor)
+{
+ /* Scales one joystick measurement to the chair's joystick measurement */
float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
-
- // lowPass(scaled_x);
- //lowPass(scaled_y);
-
- x->write(scaled_x);
+
+ /* Sends the scaled joystic values to the chair */
+ x->write(scaled_x);
y->write(scaled_y);
-
- //out->printf("yaw %f\r\r\n", imu->yaw());
-
}
-
-void Wheelchair::forward()
+
+/* Automatic mode: move forward and update x,y coordinate sent to chair */
+void Wheelchair::forward()
{
+ if(forwardSafety == 0)
+ {
x->write(high);
y->write(def+offset);
- // out->printf("distance %f\r\n", wheel_right.getDistance(37.5));
+ }
}
-
-void Wheelchair::backward()
+
+/* Automatic mode: move in reverse and update x,y coordinate sent to chair */
+void Wheelchair::backward()
{
x->write(low);
y->write(def);
}
-
-void Wheelchair::right()
+
+/* Automatic mode: move right and update x,y coordinate sent to chair */
+void Wheelchair::right()
{
x->write(def);
y->write(low);
}
-void Wheelchair::left()
+ /* Automatic mode: move left and update x,y coordinate sent to chair */
+void Wheelchair::left()
{
x->write(def);
y->write(high);
}
-
-void Wheelchair::stop()
+
+/* Stop the wheelchair */
+void Wheelchair::stop()
{
x->write(def);
y->write(def);
}
-// counter clockwise is -
-// clockwise is +
-void Wheelchair::pid_right(int deg)
+
+/* Counter-clockwise is -
+ * Clockwise is +
+ * Range of deg: 0 to 360
+ * This constructor takes in an angle from user and adjusts for turning right
+ */
+void Wheelchair::pid_right(int deg)
{
- bool overturn = false;
+ bool overturn = false; //Boolean if angle over 360˚
- out->printf("pid right\r\r\n");
- x->write(def);
- Setpoint = curr_yaw + deg;
- pid_yaw = curr_yaw;
- if(Setpoint > 360) {
- // Setpoint -= 360;
+ out->printf("pid right\r\r\n");
+ x->write(def); // Update x sent to chair to be stationary
+ Setpoint = curr_yaw + deg; // Relative angle we want to turn
+ pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
+
+ /* Turns on overturn boolean if setpoint over 360˚ */
+ if(Setpoint > 360)
+ {
overturn = true;
}
- myPID.SetTunings(5.5,0, 0.0035);
- myPID.SetOutputLimits(0, def-low-.15);
- myPID.SetControllerDirection(DIRECT);
- while(pid_yaw < Setpoint - 3){//curr_yaw <= Setpoint) {
+
+ myPID.SetTunings(5.5,0, 0.0035); // Sets the constants for P and D
+ myPID.SetOutputLimits(0, def-low-.15); // Limit is set to the differnce between def and low
+ myPID.SetControllerDirection(DIRECT); // PID mode: Direct
+
+ /* PID stops when approaching a litte less than desired angle */
+ while(pid_yaw < Setpoint - 3)
+ {
+ /* PID is set to correct angle range if angle greater than 360˚*/
if(overturn && curr_yaw < Setpoint-deg-1)
{
- pid_yaw = curr_yaw + 360;
- }
- else
+ pid_yaw = curr_yaw + 360;
+ }
+ else
+ {
pid_yaw = curr_yaw;
- myPID.Compute();
- double tempor = -Output+def;
- y->write(tempor);
- out->printf("curr_yaw %f\r\r\n", curr_yaw);
- out->printf("Setpoint = %f \r\n", Setpoint);
-
- wait(.05);
}
- Wheelchair::stop();
- out->printf("done \r\n");
+
+ myPID.Compute(); // Does PID calculations
+ double tempor = -Output+def; // Temporary value with the voltage output
+ y->write(tempor); // Update y sent to chair
+
+ /* Prints to serial monitor the current angle and setpoint */
+ out->printf("curr_yaw %f\r\r\n", curr_yaw);
+ out->printf("Setpoint = %f \r\n", Setpoint);
+
+ wait(.05); // Small delay (milliseconds)
}
-
-void Wheelchair::pid_left(int deg)
+
+ /* Saftey stop for wheelchair */
+ Wheelchair::stop();
+ out->printf("done \r\n");
+}
+
+/* Counter-clockwise is -
+ * Clockwise is +
+ * Range of deg: 0 to 360
+ * This constructor takes in an angle from user and adjusts for turning left
+ */
+void Wheelchair::pid_left(int deg)
{
- bool overturn = false;
+ bool overturn = false; //Boolean if angle under 0˚
- out->printf("pid Left\r\r\n");
- x->write(def);
- Setpoint = curr_yaw - deg;
- pid_yaw = curr_yaw;
- if(Setpoint < 0) {
- // Setpoint += 360;
+ out->printf("pid Left\r\r\n");
+ x->write(def); // Update x sent to chair to be stationary
+ Setpoint = curr_yaw - deg; // Relative angle we want to turn
+ pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
+
+ /* Turns on overturn boolean if setpoint less than 0˚ */
+ if(Setpoint < 0)
+ {
overturn = true;
}
- myPID.SetTunings(5,0, 0.004);
- myPID.SetOutputLimits(0,high-def-.12);
- myPID.SetControllerDirection(REVERSE);
- while(pid_yaw > Setpoint+3){//pid_yaw < Setpoint + 2) {
- myPID.Compute();
- if(overturn && curr_yaw > Setpoint+deg+1)
+
+ myPID.SetTunings(5,0, 0.004); // Sets the constants for P and D
+ myPID.SetOutputLimits(0,high-def-.12); //Limit is set to the differnce between def and low
+ myPID.SetControllerDirection(REVERSE); // PID mode: Reverse
+
+ /* PID stops when approaching a litte more than desired angle */
+ while(pid_yaw > Setpoint+3)
+ {
+ /* PID is set to correct angle range if angle less than 0˚ */
+ if(overturn && curr_yaw > Setpoint+deg+1)
{
pid_yaw = curr_yaw - 360;
- }
- else
- pid_yaw = curr_yaw;
- double tempor = Output+def;
-
- y->write(tempor);
+ }
+ else
+ {
+ pid_yaw = curr_yaw;
+ }
+
+ myPID.Compute(); // Does PID calculations
+ double tempor = Output+def; // Temporary value with the voltage output
+ y->write(tempor); // Update y sent to chair
+
+ /* Prints to serial monitor the current angle and setpoint */
out->printf("curr_yaw %f\r\n", curr_yaw);
- wait(.05);
- }
- Wheelchair::stop();
+ out->printf("Setpoint = %f \r\n", Setpoint);
+
+ wait(.05); // Small delay (milliseconds)
}
+
+ /* Saftey stop for wheelchair */
+ Wheelchair::stop();
+ out->printf("done \r\n");
-void Wheelchair::pid_turn(int deg) {
- if(deg > 180) {
+}
+
+/* This constructor determines whether to turn left or right */
+void Wheelchair::pid_turn(int deg)
+{
+
+ /* Sets angle to coterminal angle for left turn if deg > 180
+ * Sets angle to coterminal angle for right turn if deg < -180
+ */
+ if(deg > 180)
+ {
deg -= 360;
}
-
- else if(deg < -180) {
- deg+=360;
+ else if(deg < -180)
+ {
+ deg +=360;
}
+ /* Makes sure angle inputted to function is positive */
int turnAmt = abs(deg);
- ti->reset();
+
+ /* Calls PID_right if deg > 0, else calls PID_left if deg < 0 */
+ if(deg >= 0)
+ {
+ Wheelchair::pid_right(turnAmt);
+ }
+ else
+ {
+ Wheelchair::pid_left(turnAmt);
+ }
- if(deg >= 0){
- Wheelchair::pid_right(turnAmt);
- }
- else {
- Wheelchair::pid_left(turnAmt);
- }
- }
+}
+
+/* This constructor takes in distance to travel and adjust to move forward */
void Wheelchair::pid_forward(double mm)
{
- mm -= 20;
- Input = 0;
- wheel->reset();
+ mm -= 20; // Makes sure distance does not overshoot
+ Input = 0; // Initializes input to zero: Test latter w/o
+ wheel->reset(); // Resets encoders so that they start at 0
+
out->printf("pid foward\r\n");
-
- double tempor;
- Setpoint = mm;
+
+ double tempor; // Initializes Temporary variable for x input
+ Setpoint = mm; // Initializes the setpoint to desired value
+
+ myPIDDistance.SetTunings(5.5,0, 0.0015); // Sets constants for P and D
+ myPIDDistance.SetOutputLimits(0,high-def-.15); // Limit set to difference between high and def
+ myPIDDistance.SetControllerDirection(DIRECT); // PID mode: Direct
+
+ y->write(def+offset); // Update y to make chair stationary
+
+ /* Chair stops moving when Setpoint is reached */
+ while(Input < Setpoint){
+
+ if(out->readable()) // Emergency Break
+ {
+ break;
+ }
- // Setpoint = wheel_right.getDistance(37.5)+mm;
- myPIDDistance.SetTunings(5,0, 0.004);
- myPIDDistance.SetOutputLimits(0,high-def-.15);
- myPIDDistance.SetControllerDirection(DIRECT);
- y->write(def+offset);
- while(Input < Setpoint-5){//pid_yaw < Setpoint + 2) {
- if(out->readable())
- break;
- Input = wheel->getDistance(53.975);
- //out->printf("input foward %d\r\n", wheel->getPulses());
- wait(.05);
- myPIDDistance.Compute();
+ Input = wheel->getDistance(53.975); // Gets distance from Encoder into PID
+ wait(.05); // Slight Delay: *****Test without
+ myPIDDistance.Compute(); // Compute distance traveled by chair
+
+ tempor = Output + def; // Temporary output variable
+ x->write(tempor); // Update x sent to chair
- tempor = Output + def;
- x->write(tempor);
+ /* Prints to serial monitor the distance traveled by chair */
out->printf("distance %f\r\n", Input);
}
-
}
-void Wheelchair::pid_reverse(double mm)
+
+/* This constructor returns the relative angular position of chair */
+double Wheelchair::getTwistZ()
{
- /* qei.putc('r');
- out->printf("pid reverse\r\n");
-
- double tempor;
- Setpoint2 = mm;
-
- // Setpoint = wheel_right.getDistance(37.5)+mm;
- myPIDDistance.SetTunings(5,0, 0.004);
- myPIDDistance.SetOutputLimits(0,def);
- myPIDDistance.SetControllerDirection(REVERSE);
- y->write(def);
- while(encoder_distance > Setpoint2+5){//pid_yaw < Setpoint + 2) {
- int i;
- qei.putc('h');
- //qei.gets(myString, 10);
- ti->reset();
-
- for (i=0; myString[i-1] != '\n'; i++) {
- while (true) {
- //pc.printf("%f\r\n", ti.read());
- if (ti->read() > .02) break;
- if (qei.readable()) {
- myString[i]= qei.getc();
- break;
- }
- }
- }
- myString[i-1] = 0;
- double tempor = atof(myString);
- out->printf("displacement = %f\r\n", tempor);
- if(abs(tempor - encoder_distance) < 500)
- {
- encoder_distance = tempor;
- out->printf("this is fine\r\n");
- }
- for(i = 0; i < 64; i++)
- {
- myString[i] = 0;
- }
- Input = encoder_distance;
- out->printf("input foward %f\r\n", Input);
- wait(.1);
- myPIDDistance.Compute();
-
- // get value from encoder2
- qei.putc('k');
- ti->reset();
+ return imu->gyro_z();
+}
- for (i=0; myString[i-1] != '\n'; i++) {
- while (true) {
- //pc.printf("%f\r\n", ti.read());
- if (ti->read() > .02) break;
- if (qei.readable()) {
- myString[i]= qei.getc();
- break;
- }
- }
- }
- myString[i-1] = 0;
- double tempor2 = atof(myString);
- out->printf("displacement = %f\r\n", tempor2);
-
- if(abs(tempor - encoder_distance) < 500)
- {
- encoder_distance = tempor;
- out->printf("this is fine\r\n");
- }
- if(abs(tempor2 - encoder_distance2) < 500)
- {
- encoder_distance2 = tempor2;
- out->printf("this is fine\r\n");
- }
- for(i = 0; i < 64; i++)
+/* This constructor computes the relative angle for Twist message in ROS */
+void Wheelchair::pid_twistA()
+{
+ /* Initialize variables for angle and update x,y sent to chair */
+ char c;
+ double temporA = def;
+ y->write(def);
+ x->write(def);
+
+ PIDAngularV.SetTunings(.00015,0, 0.00); // Sets the constants for P and D
+ PIDAngularV.SetOutputLimits(-.1, .1); // Limit set to be in range specified
+ PIDAngularV.SetControllerDirection(DIRECT); // PID mode: Direct
+
+ /* Computes angular position of wheelchair while turning */
+ while(1)
+ {
+ yDesired = angularV;
+
+ /* Update and set all variable so that the chair is stationary
+ * if the desired angle is zero
+ */
+ if(yDesired == 0)
{
- myString[i] = 0;
- }
- tempor = Output;
- x->write(tempor);
- out->printf("distance %f\r\n", encoder_distance);
- }*/
-}
-double Wheelchair::turn_right(int deg)
-{
- bool overturn = false;
- out->printf("turning right\r\n");
-
- double start = curr_yaw;
- double final = start + deg;
-
- if(final > 360) {
- final -= 360;
- overturn = true;
- }
-
- out->printf("start %f, final %f\r\n", start, final);
-
- double curr = -1;
- while(curr <= final - 30) {
- Wheelchair::right();
- if( out->readable()) {
- out->printf("stopped\r\n");
- Wheelchair::stop();
+ x->write(def);
+ y->write(def);
+ yDesired = 0;
return;
}
- curr = curr_yaw;
- if(overturn && curr > (360 - deg) ) {
- curr = 0;
- }
+
+ /* Continuously updates with current angle measured by IMU */
+ yIn = imu->gyro_z();
+ PIDAngularV.Compute();
+ temporA += yOut; // Temporary value with the voltage output
+ y->write(temporA); // Update y sent to chair
+
+ //out->printf("temporA: %f, yDesired %f, angle: %f\r\n", temporA, yDesired, imu->gyro_z());
+ wait(.05); // Small delay (milliseconds)
}
-
- out->printf("done turning start %f final %f\r\n", start, final);
- Wheelchair::stop();
-
- //delete me
- wait(5);
-
- float correction = final - curr_yaw;
- out->printf("final pos %f actual pos %f\r\n", final, curr_yaw);
- Wheelchair::turn_left(abs(correction));
- Wheelchair::stop();
-
- wait(5);
- out->printf("curr_yaw %f\r\n", curr_yaw);
- return final;
-}
+
+}
-double Wheelchair::turn_left(int deg)
+/* This constructor computes the relative velocity for Twist message in ROS */
+void Wheelchair::pid_twistV()
{
- bool overturn = false;
- out->printf("turning left\r\n");
-
- double start = curr_yaw;
- double final = start - deg;
+ /* Initializes variables as default */
+ double temporV = def;
+ double temporS = def;
+ vDesiredS = 0;
+ x->write(def);
+ y->write(def);
+ wheel->reset(); // Resets the encoders
+ /* Sets the constants for P and D */
+ PIDVelosity.SetTunings(.0005,0, 0.00);
+ PIDSlaveV.SetTunings(.01,0.000001, 0.000001);
+
+ /* Limits to the range specified */
+ PIDVelosity.SetOutputLimits(-.005, .005);
+ PIDSlaveV.SetOutputLimits(-.002, .002);
+
+ /* PID mode: Direct */
+ PIDVelosity.SetControllerDirection(DIRECT);
+ PIDSlaveV.SetControllerDirection(DIRECT);
+
+ while(1)
+ {
+ linearV = .7;
+ test1 = linearV*100;
+ vel = curr_vel;
+ vDesired = linearV*100;
+ if(out->readable())
+ return;
+ /* Update and set all variable so that the chair is stationary
+ * if the velocity is zero
+ */
+ if(linearV == 0)
+ {
+ x->write(def);
+ y->write(def);
- if(final < 0) {
- final += 360;
- overturn = true;
- }
-
- out->printf("start %f, final %f\r\n", start, final);
-
- double curr = 361;
- while(curr >= final) {
- Wheelchair::left();
- if( out->readable()) {
- out->printf("stopped\r\n");
- Wheelchair::stop();
+ vel = 0;
+ vDesired = 0;
+ dist_old = 0;
return;
}
- curr = curr_yaw;
-
- if(overturn && curr >= 0 && curr <= start ) {
- curr = 361;
+
+ if(vDesired >= 0)
+ {
+ PIDVelosity.SetTunings(.000004,0, 0.00); // Sets the constants for P and D
+ PIDVelosity.SetOutputLimits(-.002, .002); // Limits to the range specified
+ }
+ else
+ {
+ PIDVelosity.SetTunings(.000015,0, 0.00); // Sets the constants for P and D
+ PIDVelosity.SetOutputLimits(-.0005, .0005); // Limits to range specified
+ }
+
+ /* Sets maximum value of variable to 1 */
+ if(temporV >= 1.5)
+ {
+ temporV = 1.5;
}
+ /* Scales and makes some adjustments to velocity */
+ vIn = curr_vel*100;
+ vInS = curr_vel-curr_velS;
+ PIDVelosity.Compute();
+ PIDSlaveV.Compute();
+ if(forwardSafety == 0)
+ {
+ temporV += vOut;
+ temporS += vOutS;
+
+ /* Updates x,y sent to Wheelchair and for Odometry message in ROS */
+ x->write(temporV);
+ test2 = temporV;
+ y->write(temporS);
+ }
+ else
+ {
+ x->write(def);
+ y->write(def);
+ }
+ //out->printf("Velosity: %f, Velosity2: %f, temporV %f, temporS %f\r\n", curr_vel, curr_velS, temporV, temporS);
+ Wheelchair::odomMsg();
+ wait(.01); // Small delay (milliseconds)
}
-
- out->printf("done turning start %f final %f\r\n", start, final);
- Wheelchair::stop();
-
- //delete me
- wait(2);
- /*
- float correction = final - curr_yaw;
- out->printf("final pos %f actual pos %f\r\n", final, curr_yaw);
- Wheelchair::turn_right(abs(correction));
- Wheelchair::stop();
-*/
- return final;
}
-void Wheelchair::turn(int deg)
+/* This constructor calculates the relative position of the chair everytime the encoders reset
+ * by setting its old position as the origin to calculate the new position
+ */
+void Wheelchair::odomMsg()
{
- if(deg > 180) {
- deg -= 360;
- }
-
- else if(deg < -180) {
- deg+=360;
- }
+ double dist_new = curr_pos;
+ double dist = dist_new-dist_old;
+ double temp_x = dist*sin(z_angular*3.14159/180);
+ double temp_y = dist*cos(z_angular*3.14159/180);
+
+ x_position += temp_x;
+ y_position += temp_y;
- double finalpos;
- int turnAmt = abs(deg);
- //ti->reset();
- /*
- if(deg >= 0){
- finalpos = Wheelchair::turn_right(turnAmt);
- }
- else {
- finalpos = Wheelchair::turn_left(turnAmt);
- }
- */
- wait(2);
-
- float correction = finalpos - curr_yaw;
- out->printf("final pos %f actual pos %f\r\n", finalpos, curr_yaw);
-
-
- //if(abs(correction) > turn_precision) {
- out->printf("correcting %f\r\n", correction);
- //ti->reset();
- Wheelchair::turn_left(curr_yaw - finalpos);
- return;
- //}
-
+ dist_old = dist_new;
+ }
+
+/* This constructor prints the Odometry message to the serial monitor */
+ void Wheelchair::showOdom()
+ {
+ out->printf("x %f, y %f, angle %f", x_position, y_position, z_angular);
+ }
+
+/* This constructor returns the approximate distance based on the wheel diameter */
+float Wheelchair::getDistance()
+{
+ return wheel->getDistance(Diameter);
}
-float Wheelchair::getDistance() {
- return wheel->getDistance(Diameter);
- }
-
-void Wheelchair::resetDistance(){
+/* This constructor resets the wheel encoder's */
+void Wheelchair::resetDistance()
+{
wheel->reset();
- }
-void Wheelchair::desk() {
+}
+
+
+/*Predetermined paths For Demmo*/
+void Wheelchair::desk()
+{
Wheelchair::pid_forward(5461);
Wheelchair::pid_right(87);
Wheelchair::pid_forward(3658);
Wheelchair::pid_right(87);
Wheelchair::pid_forward(3658);
- }
-
-void Wheelchair::kitchen() {
+}
+
+void Wheelchair::kitchen()
+{
Wheelchair::pid_forward(5461);
Wheelchair::pid_right(87);
Wheelchair::pid_forward(3658);
Wheelchair::pid_left(90);
Wheelchair::pid_forward(305);
- }
-
-void Wheelchair::desk_to_kitchen(){
+}
+
+void Wheelchair::desk_to_kitchen()
+{
Wheelchair::pid_right(180);
Wheelchair::pid_forward(3700);
- }
-
+}
\ No newline at end of file