Jesus Fausto
1
Dependencies: QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic
Dependents: wheelchairControlSumer2019
Diff: wheelchair.h
- Revision:
- 30:b24d73663499
- Parent:
- 29:4519f4cdcb5d
--- a/wheelchair.h Mon Jul 01 16:36:47 2019 +0000
+++ b/wheelchair.h Wed Jun 03 20:25:18 2020 +0000
@@ -9,32 +9,40 @@
#include "VL53L1X.h"
#include "statistics.h"
#include "Watchdog.h"
-
+
#include <ros.h>
#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 *
* 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
+#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/Compatible with Nucleo-400 series (F767ZI)*
**************************************************************************/
-#define xDir PA_6 //* PWM Pins */
+#define xDir PA_6 // PWM Pins
#define yDir PA_5
-#define Encoder1 D7 //*Digital In Pull Up Pin */
+#define Encoder1 D7 // Digital In Pull Up Pin
#define Encoder2 D8
-#define Diameter 31.75 //Diameter of encoder wheel
+#define Diameter 31.75 // Diameter of encoder wheel
#define maxDecelerationSlow 120
#define maxDecelerationFast 30
#define ToFSensorNum 12
-
+
+/*************************************************************************
+*IMU definitions for turning wheelchair
+**************************************************************************/
+#define WHEELCHAIR_RADIUS 56 //distance from IMU to edge of wheelchair(cm)
+#define MAX_ANGULAR_DECELERATION 60 //found through testing, max
+ //acceleration at which chair can
+ //stop while turning. In degree per sec
+#define MIN_WALL_LENGTH 10 // minimum distance from wall to ToF (cm)
/*************************************************************************
* *
* Wheelchair class *
@@ -51,12 +59,12 @@
**************************************************************************/
Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* wheel, QEI* wheelS,
VL53L1X** ToF);
-
+
/*************************************************************************
* This method is to move using the joystick *
**************************************************************************/
void move(float x_coor, float y_coor);
-
+
/*************************************************************************
* This method is to drive the wheelchair forward manually (NO PID used)*
************************************************************************ */
@@ -65,37 +73,37 @@
* This method is to drive the wheelchair backwards (NO PID used) *
************************************************************************ */
void backward();
-
+
/*************************************************************************
* This method is to turn the wheelchair right manually (NO PID used) *
************************************************************************ */
void right();
-
+
/*************************************************************************
* This method is to turn the wheelchair left manually (NO PID used) *
************************************************************************ */
void left();
-
+
/*************************************************************************
* This method stops the wheelchair and reset the joystick position *
************************************************************************ */
void stop();
-
+
/*************************************************************************
* 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 *
@@ -103,61 +111,61 @@
* the chair, then the chair will safely halt and allow movement in the *
* direction opposed to where an object is detected. *
************************************************************************ */
- void assistSafe_thread();
-
+ void ToFSafe_thread();
+
/*************************************************************************
* 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 *
*************************************************************************/
@@ -185,14 +193,14 @@
* This method prints the Odometry message to the serial monitor *
*************************************************************************/
void showOdom();
-
+
/*************************************************************************
* (not being used) Functions with a predetermined path (demo) *
*************************************************************************/
void desk();
void kitchen();
void desk_to_kitchen();
-
+
/*************************************************************************
* Public Variables *
**************************************************************************/
@@ -206,33 +214,36 @@
double vel;
double test1, test2;
bool forwardSafety;
+ bool sideSafety; //to check if can turn
double curr_yaw, curr_velS; // Variable that contains current relative angle
-
+
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
QEI* wheel; // Pointer to encoder
QEI* wheelS; // Pointer to encoder
VL53L1X** ToF; // Arrays of pointers to ToF sensors
-
-
+
+
+
+
};
#endif
\ No newline at end of file