Jesus Fausto
1
Dependencies: QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic
Dependents: wheelchairControlSumer2019
Diff: wheelchair.h
- Revision:
- 28:6d6bd8ad04dc
- Parent:
- 27:da718b990837
- Child:
- 29:4519f4cdcb5d
--- a/wheelchair.h Fri Jun 28 21:16:26 2019 +0000
+++ b/wheelchair.h Mon Jul 01 06:03:43 2019 +0000
@@ -1,7 +1,8 @@
#ifndef wheelchair
#define wheelchair
-
-/* Importing libraries into wheelchair.h */
+/*************************************************************************
+* Importing libraries into wheelchair.h *
+**************************************************************************/
#include "chair_BNO055.h"
#include "PID.h"
#include "QEI.h"
@@ -12,18 +13,19 @@
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
-
-/*
-* Joystick has analog out of 200-700, scale values between 1.3 and 3.3
-*/
+/*************************************************************************
+* Joystick has analog out of 200-700, scale values between 1.3 and 3.3 *
+* Here are some global constants for joystick *
+**************************************************************************/
#define def (2.5f/3.3f) //Default axis on joystick to stay neutral; used on x and y axis
#define high 3.3f/3.3f //High power on joystick; used on x and y axis
#define low (1.7f/3.3f) //Low power on joystick; used on x and y axis
#define offset .03f //Joystick adjustment to be able to go straight. Chair dependent on manufactoring precision
#define process .1 //Defines default time delay in seconds
-
-/* Pin plug in for Nucleo-L432KC */
-#define xDir PA_6 //* PWM Pins */
+/*************************************************************************
+*Pin plug-in for Nucleo-L432KC/Compatible with Nucleo-400 series (F767ZI)*
+**************************************************************************/
+#define xDir PA_6 //* PWM Pins */
#define yDir PA_5
#define Encoder1 D7 //*Digital In Pull Up Pin */
#define Encoder2 D8
@@ -32,102 +34,197 @@
#define maxDecelerationFast 30
#define ToFSensorNum 12
-
-/** Wheelchair class
- * Used for controlling the smart wheelchair
- */
-
+/*************************************************************************
+* *
+* Wheelchair class *
+* Used for controlling the Smart Wheelchair *
+* *
+**************************************************************************/
class Wheelchair
{
public:
- /** Create Wheelchair Object with x,y pin for analog dc output
- * serial for printout, and timer
- */
+ /*************************************************************************
+ * Create Wheelchair constructor with x,y pin for analog-to-dc output *
+ * serial for printout, and time. This is also used to initialize some *
+ * variables for the timer,encoders and time-of-flight sensors *
+ **************************************************************************/
Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* wheel, QEI* wheelS,
- VL53L1X** ToF);
-
- /** Move using the joystick */
+ VL53L1X** ToF);
+
+ /*************************************************************************
+ * This method is to move using the joystick *
+ **************************************************************************/
void move(float x_coor, float y_coor);
-
- /* Turn right a certain amount of degrees using PID*/
- void pid_right(int deg);
-
- /* Turn left a certain amount of degrees using PID*/
- void pid_left(int deg);
-
- /* Drive the wheelchair forward */
+
+ /*************************************************************************
+ * This method is to drive the wheelchair forward manually (NO PID used)*
+ ************************************************************************ */
void forward();
-
- /* Drive the wheelchair in reverse*/
+ /*************************************************************************
+ * This method is to drive the wheelchair backwards (NO PID used) *
+ ************************************************************************ */
void backward();
-
- /* Turn the wheelchair right*/
+
+ /*************************************************************************
+ * This method is to turn the wheelchair right manually (NO PID used) *
+ ************************************************************************ */
void right();
-
- /* Turn the wheelchair left*/
+
+ /*************************************************************************
+ * This method is to turn the wheelchair left manually (NO PID used) *
+ ************************************************************************ */
void left();
-
- /* Stop the wheelchair*/
+
+ /*************************************************************************
+ * This method stops the wheelchair and reset the joystick position *
+ ************************************************************************ */
void stop();
-
- /* Functions to get IMU data*/
+
+ /*************************************************************************
+ * This method is a thread that will obtain the IMU information such *
+ * as the gyroscope x,y axis. Z-axis is not used. *
+ ************************************************************************ */
void compass_thread();
+
+ /*************************************************************************
+ * This method is a thread that will calculate the velocity of the *
+ * wheechair using the encoder values this is being obatined. *
+ ************************************************************************ */
void velocity_thread();
+
+ //not being used
void rosCom_thread();
+
+ /*************************************************************************
+ * This method is a thread that iterates through all the sensor's *
+ * values and determines whether or not the wheelchair is about to hit *
+ * or crash into something. If the sensors detect something close to *
+ * the chair, then the chair will safely halt and allow movement in the *
+ * direction opposed to where an object is detected. *
+ ************************************************************************ */
void assistSafe_thread();
-
- /* Move x millimiters foward using PID*/
+ /*************************************************************************
+ * This method is a thread that will constantly be checking the value *
+ * of the emergency button. If the button is pressed, then the chair *
+ * will stop and the entire system will reset. *
+ ************************************************************************ */
+ void emergencyButton_thread();
+
+ /*************************************************************************
+ * This method gets the encoder values and calculates the distance since*
+ * the last encoder reset. *
+ **************************************************************************/
+ float getDistance();
+
+ /*************************************************************************
+ * This method resets the encoder value to recalculate distance *
+ **************************************************************************/
+ void resetDistance();
+
+
+ /*************************************************************************
+ * *
+ * PID Control Methods *
+ * *
+ *************************************************************************/
+
+
+ /*************************************************************************
+ * This method moves the wheelchair x-millimiters forward using PID *
+ **************************************************************************/
void pid_forward(double mm);
+
+ /*************************************************************************
+ * This method turns the chair right a certain amount of degrees using PID*
+ **************************************************************************/
+ void pid_right(int deg);
+
+ /*************************************************************************
+ * This method turns the chair left a certain amount of degrees using PID *
+ **************************************************************************/
+ void pid_left(int deg);
+
+ /*************************************************************************
+ * This method determines whether to turn the wheelchair left or right *
+ **************************************************************************/
+ void pid_turn(int deg);
+
+
+ /*************************************************************************
+ * *
+ * ROS-Embed Communication Methods *
+ * *
+ *************************************************************************/
+
+ /*************************************************************************
+ * This method computes the relative angle for Twist message in ROS *
+ *************************************************************************/
+ void pid_twistA();
- /* Obtain angular position for Twist message */
+ /*************************************************************************
+ * This method computes the relative velocity for Twist message in ROS *
+ *************************************************************************/
+ void pid_twistV();
+
+ /*************************************************************************
+ * This method computes the angular position for Twist message in ROS *
+ *************************************************************************/
double getTwistZ();
- /* Gets the encoder distance moved since encoder reset*/
- float getDistance();
-
- /* Resets encoder*/
- void resetDistance();
-
- /* Function to determine whether we are turning left or right*/
- void pid_turn(int deg);
+ /*************************************************************************
+ * This method calculates the relative position of the chair everytime *
+ * the encoders reset by setting its old position as the origin to *
+ * calculate the new position. Moreover, this function is important to *
+ * be able to publish (send) the information to ROS *
+ *************************************************************************/
+ void odomMsg();
- /* Function to obtain angular and linear velocity */
- void pid_twistA();
- void pid_twistV();
-
- /* Function to publish and show Odometry message */
- void odomMsg();
+ /*************************************************************************
+ * This method prints the Odometry message to the serial monitor *
+ *************************************************************************/
void showOdom();
-
- /* Functions with a predetermined path (demo) */
+
+ /*************************************************************************
+ * (not being used) Functions with a predetermined path (demo) *
+ *************************************************************************/
void desk();
void kitchen();
void desk_to_kitchen();
-
- /* Variables for postion, angle, and velocity */
+
+ /*************************************************************************
+ * Public Variables *
+ **************************************************************************/
double x_position;
double y_position;
- double z_angular;
+ double z_angular;
double curr_vel;
double z_twistA;
double linearV;
double angularV;
double vel;
- double test1, test2;
+ double test1, test2;
bool forwardSafety;
double curr_yaw, curr_velS; // Variable that contains current relative angle
-
-private:
- int runningAverage[4];
- int ledgeArrayLF[100];
+private:
+ int runningAverage[4];
+ // Expected data used to compare whether of not there is a ledge. This serves as a ground base
+ // Array is used for calibrating the time of flight sensors
+ // Used to calculate stdev and mean on
+ int ledgeArrayLF[100];
int ledgeArrayRF[100];
-
+
/* Pointers for the joystick speed */
PwmOut* x;
PwmOut* y;
-
+
+ //Pointers for PCB
+ PwmOut* on;
+ PwmOut* off;
+
+ DigitalIn* e_button; //Pointer to e_button
+
chair_BNO055* imu; // Pointer to IMU
Serial* out; // Pointer to Serial Monitor
Timer* ti; // Pointer to the timer
@@ -135,6 +232,6 @@
QEI* wheelS; // Pointer to encoder
VL53L1X** ToF; // Arrays of pointers to ToF sensors
-
+
};
#endif
\ No newline at end of file