Jesus Fausto / wheelchaircontrol1

1

Dependencies:   QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic

Dependents:   wheelchairControlSumer2019

wheelchair.cpp@21:3489cffad196, 2019-04-19 (annotated)

Committer:
jvfausto
Date:
Fri Apr 19 23:04:01 2019 +0000
Revision:
21:3489cffad196
Parent:
20:f42db4ae16f0
Child:
26:662693bd7f31
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 21:3489cffad196 41 for(int i = 0; i < 9; 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 21:3489cffad196 46 out->printf("\r\n");
jvfausto 21:3489cffad196 47 int sensor1 = ToFV[2];
jvfausto 21:3489cffad196 48 int sensor4 = ToFV[5];
jvfausto 21:3489cffad196 49 out->printf("%d, %d\r\n", sensor1, sensor4);
jvfausto 21:3489cffad196 50 if(((2 * maxDeceleration*sensor1 < curr_vel*curr_vel*1000*1000 ||
jvfausto 21:3489cffad196 51 2 * maxDeceleration*sensor4 < curr_vel*curr_vel*1000*1000) &&
jvfausto 21:3489cffad196 52 (sensor1 < 1500 || sensor4 < 1500)) ||
jvfausto 21:3489cffad196 53 550 > sensor1 || 550 > sensor4)
jvfausto 21:3489cffad196 54 {
jvfausto 21:3489cffad196 55 //out->printf("i am in danger\r\n");
jvfausto 21:3489cffad196 56 if(x->read() > def)
jvfausto 21:3489cffad196 57 {
jvfausto 21:3489cffad196 58 x->write(def);
jvfausto 21:3489cffad196 59 forwardSafety = 1;
jvfausto 21:3489cffad196 60 }
jvfausto 21:3489cffad196 61 }
jvfausto 21:3489cffad196 62 else
jvfausto 21:3489cffad196 63 forwardSafety = 0;
jvfausto 21:3489cffad196 64
jvfausto 21:3489cffad196 65 }
ryanlin97 6:0cd57bdd8fbc 66
jvfausto 21:3489cffad196 67 /* Constructor for Wheelchair class */
jvfausto 21:3489cffad196 68 Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS,
jvfausto 21:3489cffad196 69 VL53L1X** ToFT)
jvfausto 21:3489cffad196 70 {
jvfausto 21:3489cffad196 71 x_position = 0;
jvfausto 21:3489cffad196 72 y_position = 0;
jvfausto 21:3489cffad196 73 forwardSafety = 0;
jvfausto 21:3489cffad196 74 /* Initializes X and Y variables to Pins */
jvfausto 21:3489cffad196 75 x = new PwmOut(xPin);
jvfausto 21:3489cffad196 76 y = new PwmOut(yPin);
jvfausto 21:3489cffad196 77 /* Initializes IMU Library */
jvfausto 21:3489cffad196 78 imu = new chair_BNO055(pc, time);
jvfausto 21:3489cffad196 79 Wheelchair::stop(); // Wheelchair is initially stationary
jvfausto 21:3489cffad196 80 imu->setup(); // turns on the IMU
jvfausto 21:3489cffad196 81 out = pc; // "out" is called for serial monitor
jvfausto 21:3489cffad196 82 wheelS = qeiS; // "wheel" is called for encoder
jvfausto 21:3489cffad196 83 wheel = qei;
jvfausto 21:3489cffad196 84 ToF = ToFT; // passes pointer with addresses of ToF sensors
jvfausto 21:3489cffad196 85
jvfausto 21:3489cffad196 86 for(int i = 0; i < 12; i++) // initializes the ToF Sensors
jvfausto 21:3489cffad196 87 {
jvfausto 21:3489cffad196 88 (*(ToF+i))->initReading(0x31+((0x02)*i), 50000);
jvfausto 21:3489cffad196 89 }
jvfausto 21:3489cffad196 90
jvfausto 21:3489cffad196 91 out->printf("wheelchair setup done \r\n"); // Make sure it initialized; prints in serial monitor
jvfausto 21:3489cffad196 92 ti = time;
jvfausto 21:3489cffad196 93
jvfausto 21:3489cffad196 94
jvfausto 21:3489cffad196 95 myPID.SetMode(AUTOMATIC); // PID mode: Automatic
jvfausto 21:3489cffad196 96 }
jvfausto 21:3489cffad196 97
jvfausto 21:3489cffad196 98 /* Move wheelchair with joystick on manual mode */
jvfausto 21:3489cffad196 99 void Wheelchair::move(float x_coor, float y_coor)
jvfausto 21:3489cffad196 100 {
jvfausto 21:3489cffad196 101 /* Scales one joystick measurement to the chair's joystick measurement */
ryanlin97 4:29a27953fe70 102 float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
ryanlin97 4:29a27953fe70 103 float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
jvfausto 21:3489cffad196 104
jvfausto 21:3489cffad196 105 /* Sends the scaled joystic values to the chair */
jvfausto 21:3489cffad196 106 x->write(scaled_x);
ryanlin97 4:29a27953fe70 107 y->write(scaled_y);
ryanlin97 5:e0ccaab3959a 108 }
jvfausto 21:3489cffad196 109
jvfausto 21:3489cffad196 110 /* Automatic mode: move forward and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 111 void Wheelchair::forward()
ryanlin97 1:c0beadca1617 112 {
jvfausto 21:3489cffad196 113 if(forwardSafety == 0)
jvfausto 21:3489cffad196 114 {
ryanlin97 0:fc0c4a184482 115 x->write(high);
ryanlin97 3:a5e71bfdb492 116 y->write(def+offset);
jvfausto 21:3489cffad196 117 }
ryanlin97 0:fc0c4a184482 118 }
jvfausto 21:3489cffad196 119
jvfausto 21:3489cffad196 120 /* Automatic mode: move in reverse and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 121 void Wheelchair::backward()
ryanlin97 1:c0beadca1617 122 {
ryanlin97 0:fc0c4a184482 123 x->write(low);
ryanlin97 0:fc0c4a184482 124 y->write(def);
ryanlin97 0:fc0c4a184482 125 }
jvfausto 21:3489cffad196 126
jvfausto 21:3489cffad196 127 /* Automatic mode: move right and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 128 void Wheelchair::right()
ryanlin97 1:c0beadca1617 129 {
ryanlin97 0:fc0c4a184482 130 x->write(def);
ryanlin97 11:d14a1f7f1297 131 y->write(low);
ryanlin97 0:fc0c4a184482 132 }
ryanlin97 0:fc0c4a184482 133
jvfausto 21:3489cffad196 134 /* Automatic mode: move left and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 135 void Wheelchair::left()
ryanlin97 1:c0beadca1617 136 {
ryanlin97 0:fc0c4a184482 137 x->write(def);
ryanlin97 11:d14a1f7f1297 138 y->write(high);
ryanlin97 0:fc0c4a184482 139 }
jvfausto 21:3489cffad196 140
jvfausto 21:3489cffad196 141 /* Stop the wheelchair */
jvfausto 21:3489cffad196 142 void Wheelchair::stop()
ryanlin97 1:c0beadca1617 143 {
ryanlin97 0:fc0c4a184482 144 x->write(def);
ryanlin97 0:fc0c4a184482 145 y->write(def);
ryanlin97 6:0cd57bdd8fbc 146 }
jvfausto 21:3489cffad196 147
jvfausto 21:3489cffad196 148 /* Counter-clockwise is -
jvfausto 21:3489cffad196 149 * Clockwise is +
jvfausto 21:3489cffad196 150 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 151 * This constructor takes in an angle from user and adjusts for turning right
jvfausto 21:3489cffad196 152 */
jvfausto 21:3489cffad196 153 void Wheelchair::pid_right(int deg)
ryanlin97 12:921488918749 154 {
jvfausto 21:3489cffad196 155 bool overturn = false; //Boolean if angle over 360˚
ryanlin97 12:921488918749 156
jvfausto 21:3489cffad196 157 out->printf("pid right\r\r\n");
jvfausto 21:3489cffad196 158 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 159 Setpoint = curr_yaw + deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 160 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 161
jvfausto 21:3489cffad196 162 /* Turns on overturn boolean if setpoint over 360˚ */
jvfausto 21:3489cffad196 163 if(Setpoint > 360)
jvfausto 21:3489cffad196 164 {
ryanlin97 12:921488918749 165 overturn = true;
ryanlin97 12:921488918749 166 }
jvfausto 21:3489cffad196 167
jvfausto 21:3489cffad196 168 myPID.SetTunings(5.5,0, 0.0035); // Sets the constants for P and D
jvfausto 21:3489cffad196 169 myPID.SetOutputLimits(0, def-low-.15); // Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 170 myPID.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 171
jvfausto 21:3489cffad196 172 /* PID stops when approaching a litte less than desired angle */
jvfausto 21:3489cffad196 173 while(pid_yaw < Setpoint - 3)
jvfausto 21:3489cffad196 174 {
jvfausto 21:3489cffad196 175 /* PID is set to correct angle range if angle greater than 360˚*/
jvfausto 17:7f3b69300bb6 176 if(overturn && curr_yaw < Setpoint-deg-1)
jvfausto 17:7f3b69300bb6 177 {
jvfausto 21:3489cffad196 178 pid_yaw = curr_yaw + 360;
jvfausto 21:3489cffad196 179 }
jvfausto 21:3489cffad196 180 else
jvfausto 21:3489cffad196 181 {
jvfausto 17:7f3b69300bb6 182 pid_yaw = curr_yaw;
ryanlin97 12:921488918749 183 }
jvfausto 21:3489cffad196 184
jvfausto 21:3489cffad196 185 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 186 double tempor = -Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 187 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 188
jvfausto 21:3489cffad196 189 /* Prints to serial monitor the current angle and setpoint */
jvfausto 21:3489cffad196 190 out->printf("curr_yaw %f\r\r\n", curr_yaw);
jvfausto 21:3489cffad196 191 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 192
jvfausto 21:3489cffad196 193 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 194 }
jvfausto 21:3489cffad196 195
jvfausto 21:3489cffad196 196 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 197 Wheelchair::stop();
jvfausto 21:3489cffad196 198 out->printf("done \r\n");
jvfausto 21:3489cffad196 199 }
jvfausto 21:3489cffad196 200
jvfausto 21:3489cffad196 201 /* Counter-clockwise is -
jvfausto 21:3489cffad196 202 * Clockwise is +
jvfausto 21:3489cffad196 203 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 204 * This constructor takes in an angle from user and adjusts for turning left
jvfausto 21:3489cffad196 205 */
jvfausto 21:3489cffad196 206 void Wheelchair::pid_left(int deg)
ryanlin97 12:921488918749 207 {
jvfausto 21:3489cffad196 208 bool overturn = false; //Boolean if angle under 0˚
ryanlin97 12:921488918749 209
jvfausto 21:3489cffad196 210 out->printf("pid Left\r\r\n");
jvfausto 21:3489cffad196 211 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 212 Setpoint = curr_yaw - deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 213 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 214
jvfausto 21:3489cffad196 215 /* Turns on overturn boolean if setpoint less than 0˚ */
jvfausto 21:3489cffad196 216 if(Setpoint < 0)
jvfausto 21:3489cffad196 217 {
ryanlin97 12:921488918749 218 overturn = true;
ryanlin97 12:921488918749 219 }
jvfausto 21:3489cffad196 220
jvfausto 21:3489cffad196 221 myPID.SetTunings(5,0, 0.004); // Sets the constants for P and D
jvfausto 21:3489cffad196 222 myPID.SetOutputLimits(0,high-def-.12); //Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 223 myPID.SetControllerDirection(REVERSE); // PID mode: Reverse
jvfausto 21:3489cffad196 224
jvfausto 21:3489cffad196 225 /* PID stops when approaching a litte more than desired angle */
jvfausto 21:3489cffad196 226 while(pid_yaw > Setpoint+3)
jvfausto 21:3489cffad196 227 {
jvfausto 21:3489cffad196 228 /* PID is set to correct angle range if angle less than 0˚ */
jvfausto 21:3489cffad196 229 if(overturn && curr_yaw > Setpoint+deg+1)
jvfausto 17:7f3b69300bb6 230 {
jvfausto 17:7f3b69300bb6 231 pid_yaw = curr_yaw - 360;
jvfausto 21:3489cffad196 232 }
jvfausto 21:3489cffad196 233 else
jvfausto 21:3489cffad196 234 {
jvfausto 21:3489cffad196 235 pid_yaw = curr_yaw;
jvfausto 21:3489cffad196 236 }
jvfausto 21:3489cffad196 237
jvfausto 21:3489cffad196 238 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 239 double tempor = Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 240 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 241
jvfausto 21:3489cffad196 242 /* Prints to serial monitor the current angle and setpoint */
jvfausto 17:7f3b69300bb6 243 out->printf("curr_yaw %f\r\n", curr_yaw);
jvfausto 21:3489cffad196 244 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 245
jvfausto 21:3489cffad196 246 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 247 }
jvfausto 21:3489cffad196 248
jvfausto 21:3489cffad196 249 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 250 Wheelchair::stop();
jvfausto 21:3489cffad196 251 out->printf("done \r\n");
ryanlin97 12:921488918749 252
jvfausto 21:3489cffad196 253 }
jvfausto 21:3489cffad196 254
jvfausto 21:3489cffad196 255 /* This constructor determines whether to turn left or right */
jvfausto 21:3489cffad196 256 void Wheelchair::pid_turn(int deg)
jvfausto 21:3489cffad196 257 {
jvfausto 21:3489cffad196 258
jvfausto 21:3489cffad196 259 /* Sets angle to coterminal angle for left turn if deg > 180
jvfausto 21:3489cffad196 260 * Sets angle to coterminal angle for right turn if deg < -180
jvfausto 21:3489cffad196 261 */
jvfausto 21:3489cffad196 262 if(deg > 180)
jvfausto 21:3489cffad196 263 {
ryanlin97 12:921488918749 264 deg -= 360;
ryanlin97 12:921488918749 265 }
jvfausto 21:3489cffad196 266 else if(deg < -180)
jvfausto 21:3489cffad196 267 {
jvfausto 21:3489cffad196 268 deg +=360;
ryanlin97 12:921488918749 269 }
ryanlin97 12:921488918749 270
jvfausto 21:3489cffad196 271 /* Makes sure angle inputted to function is positive */
ryanlin97 12:921488918749 272 int turnAmt = abs(deg);
jvfausto 21:3489cffad196 273
jvfausto 21:3489cffad196 274 /* Calls PID_right if deg > 0, else calls PID_left if deg < 0 */
jvfausto 21:3489cffad196 275 if(deg >= 0)
jvfausto 21:3489cffad196 276 {
jvfausto 21:3489cffad196 277 Wheelchair::pid_right(turnAmt);
jvfausto 21:3489cffad196 278 }
jvfausto 21:3489cffad196 279 else
jvfausto 21:3489cffad196 280 {
jvfausto 21:3489cffad196 281 Wheelchair::pid_left(turnAmt);
jvfausto 21:3489cffad196 282 }
ryanlin97 12:921488918749 283
jvfausto 21:3489cffad196 284 }
jvfausto 21:3489cffad196 285
jvfausto 21:3489cffad196 286 /* This constructor takes in distance to travel and adjust to move forward */
jvfausto 19:71a6621ee5c3 287 void Wheelchair::pid_forward(double mm)
jvfausto 17:7f3b69300bb6 288 {
jvfausto 21:3489cffad196 289 mm -= 20; // Makes sure distance does not overshoot
jvfausto 21:3489cffad196 290 Input = 0; // Initializes input to zero: Test latter w/o
jvfausto 21:3489cffad196 291 wheel->reset(); // Resets encoders so that they start at 0
jvfausto 21:3489cffad196 292
jvfausto 17:7f3b69300bb6 293 out->printf("pid foward\r\n");
jvfausto 21:3489cffad196 294
jvfausto 21:3489cffad196 295 double tempor; // Initializes Temporary variable for x input
jvfausto 21:3489cffad196 296 Setpoint = mm; // Initializes the setpoint to desired value
jvfausto 21:3489cffad196 297
jvfausto 21:3489cffad196 298 myPIDDistance.SetTunings(5.5,0, 0.0015); // Sets constants for P and D
jvfausto 21:3489cffad196 299 myPIDDistance.SetOutputLimits(0,high-def-.15); // Limit set to difference between high and def
jvfausto 21:3489cffad196 300 myPIDDistance.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 301
jvfausto 21:3489cffad196 302 y->write(def+offset); // Update y to make chair stationary
jvfausto 21:3489cffad196 303
jvfausto 21:3489cffad196 304 /* Chair stops moving when Setpoint is reached */
jvfausto 21:3489cffad196 305 while(Input < Setpoint){
jvfausto 21:3489cffad196 306
jvfausto 21:3489cffad196 307 if(out->readable()) // Emergency Break
jvfausto 21:3489cffad196 308 {
jvfausto 21:3489cffad196 309 break;
jvfausto 21:3489cffad196 310 }
jvfausto 17:7f3b69300bb6 311
jvfausto 21:3489cffad196 312 Input = wheel->getDistance(53.975); // Gets distance from Encoder into PID
jvfausto 21:3489cffad196 313 wait(.05); // Slight Delay: *****Test without
jvfausto 21:3489cffad196 314 myPIDDistance.Compute(); // Compute distance traveled by chair
jvfausto 21:3489cffad196 315
jvfausto 21:3489cffad196 316 tempor = Output + def; // Temporary output variable
jvfausto 21:3489cffad196 317 x->write(tempor); // Update x sent to chair
jvfausto 17:7f3b69300bb6 318
jvfausto 21:3489cffad196 319 /* Prints to serial monitor the distance traveled by chair */
jvfausto 19:71a6621ee5c3 320 out->printf("distance %f\r\n", Input);
jvfausto 17:7f3b69300bb6 321 }
ryanlin97 12:921488918749 322
jvfausto 17:7f3b69300bb6 323 }
jvfausto 21:3489cffad196 324
jvfausto 21:3489cffad196 325 /* This constructor returns the relative angular position of chair */
jvfausto 21:3489cffad196 326 double Wheelchair::getTwistZ()
jvfausto 17:7f3b69300bb6 327 {
jvfausto 21:3489cffad196 328 return imu->gyro_z();
jvfausto 21:3489cffad196 329 }
jvfausto 18:663b6d693252 330
jvfausto 21:3489cffad196 331 /* This constructor computes the relative angle for Twist message in ROS */
jvfausto 21:3489cffad196 332 void Wheelchair::pid_twistA()
jvfausto 21:3489cffad196 333 {
jvfausto 21:3489cffad196 334 /* Initialize variables for angle and update x,y sent to chair */
jvfausto 21:3489cffad196 335 char c;
jvfausto 21:3489cffad196 336 double temporA = def;
jvfausto 21:3489cffad196 337 y->write(def);
jvfausto 21:3489cffad196 338 x->write(def);
jvfausto 21:3489cffad196 339
jvfausto 21:3489cffad196 340 PIDAngularV.SetTunings(.00015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 341 PIDAngularV.SetOutputLimits(-.1, .1); // Limit set to be in range specified
jvfausto 21:3489cffad196 342 PIDAngularV.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 343
jvfausto 21:3489cffad196 344 /* Computes angular position of wheelchair while turning */
jvfausto 21:3489cffad196 345 while(1)
jvfausto 21:3489cffad196 346 {
jvfausto 21:3489cffad196 347 yDesired = angularV;
jvfausto 21:3489cffad196 348
jvfausto 21:3489cffad196 349 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 350 * if the desired angle is zero
jvfausto 21:3489cffad196 351 */
jvfausto 21:3489cffad196 352 if(yDesired == 0)
jvfausto 18:663b6d693252 353 {
jvfausto 21:3489cffad196 354 x->write(def);
jvfausto 21:3489cffad196 355 y->write(def);
jvfausto 21:3489cffad196 356 yDesired = 0;
ryanlin97 8:381a4ec3fef8 357 return;
ryanlin97 7:5e38d43fbce3 358 }
jvfausto 21:3489cffad196 359
jvfausto 21:3489cffad196 360 /* Continuously updates with current angle measured by IMU */
jvfausto 21:3489cffad196 361 yIn = imu->gyro_z();
jvfausto 21:3489cffad196 362 PIDAngularV.Compute();
jvfausto 21:3489cffad196 363 temporA += yOut; // Temporary value with the voltage output
jvfausto 21:3489cffad196 364 y->write(temporA); // Update y sent to chair
jvfausto 21:3489cffad196 365
jvfausto 21:3489cffad196 366 //out->printf("temporA: %f, yDesired %f, angle: %f\r\n", temporA, yDesired, imu->gyro_z());
jvfausto 21:3489cffad196 367 wait(.05); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 368 }
jvfausto 21:3489cffad196 369
jvfausto 21:3489cffad196 370 }
ryanlin97 6:0cd57bdd8fbc 371
jvfausto 21:3489cffad196 372 /* This constructor computes the relative velocity for Twist message in ROS */
jvfausto 21:3489cffad196 373 void Wheelchair::pid_twistV()
ryanlin97 6:0cd57bdd8fbc 374 {
jvfausto 21:3489cffad196 375 /* Initializes variables as default */
jvfausto 21:3489cffad196 376 double temporV = def;
jvfausto 21:3489cffad196 377 double temporS = def;
jvfausto 21:3489cffad196 378 vDesiredS = 0;
jvfausto 21:3489cffad196 379 x->write(def);
jvfausto 21:3489cffad196 380 y->write(def);
jvfausto 21:3489cffad196 381 wheel->reset(); // Resets the encoders
jvfausto 21:3489cffad196 382 /* Sets the constants for P and D */
jvfausto 21:3489cffad196 383 PIDVelosity.SetTunings(.0005,0, 0.00);
jvfausto 21:3489cffad196 384 PIDSlaveV.SetTunings(.01,0.000001, 0.000001);
jvfausto 21:3489cffad196 385
jvfausto 21:3489cffad196 386 /* Limits to the range specified */
jvfausto 21:3489cffad196 387 PIDVelosity.SetOutputLimits(-.005, .005);
jvfausto 21:3489cffad196 388 PIDSlaveV.SetOutputLimits(-.002, .002);
jvfausto 21:3489cffad196 389
jvfausto 21:3489cffad196 390 /* PID mode: Direct */
jvfausto 21:3489cffad196 391 PIDVelosity.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 392 PIDSlaveV.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 393
jvfausto 21:3489cffad196 394 while(1)
jvfausto 21:3489cffad196 395 {
jvfausto 21:3489cffad196 396 linearV = .7;
jvfausto 21:3489cffad196 397 test1 = linearV*100;
jvfausto 21:3489cffad196 398 vel = curr_vel;
jvfausto 21:3489cffad196 399 vDesired = linearV*100;
jvfausto 21:3489cffad196 400 if(out->readable())
jvfausto 21:3489cffad196 401 return;
jvfausto 21:3489cffad196 402 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 403 * if the velocity is zero
jvfausto 21:3489cffad196 404 */
jvfausto 21:3489cffad196 405 if(linearV == 0)
jvfausto 21:3489cffad196 406 {
jvfausto 21:3489cffad196 407 x->write(def);
jvfausto 21:3489cffad196 408 y->write(def);
ryanlin97 8:381a4ec3fef8 409
jvfausto 21:3489cffad196 410 vel = 0;
jvfausto 21:3489cffad196 411 vDesired = 0;
jvfausto 21:3489cffad196 412 dist_old = 0;
ryanlin97 8:381a4ec3fef8 413 return;
ryanlin97 8:381a4ec3fef8 414 }
jvfausto 21:3489cffad196 415
jvfausto 21:3489cffad196 416 if(vDesired >= 0)
jvfausto 21:3489cffad196 417 {
jvfausto 21:3489cffad196 418 PIDVelosity.SetTunings(.000004,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 419 PIDVelosity.SetOutputLimits(-.002, .002); // Limits to the range specified
jvfausto 21:3489cffad196 420 }
jvfausto 21:3489cffad196 421 else
jvfausto 21:3489cffad196 422 {
jvfausto 21:3489cffad196 423 PIDVelosity.SetTunings(.000015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 424 PIDVelosity.SetOutputLimits(-.0005, .0005); // Limits to range specified
jvfausto 21:3489cffad196 425 }
jvfausto 21:3489cffad196 426
jvfausto 21:3489cffad196 427 /* Sets maximum value of variable to 1 */
jvfausto 21:3489cffad196 428 if(temporV >= 1.5)
jvfausto 21:3489cffad196 429 {
jvfausto 21:3489cffad196 430 temporV = 1.5;
ryanlin97 8:381a4ec3fef8 431 }
jvfausto 21:3489cffad196 432 /* Scales and makes some adjustments to velocity */
jvfausto 21:3489cffad196 433 vIn = curr_vel*100;
jvfausto 21:3489cffad196 434 vInS = curr_vel-curr_velS;
jvfausto 21:3489cffad196 435 PIDVelosity.Compute();
jvfausto 21:3489cffad196 436 PIDSlaveV.Compute();
jvfausto 21:3489cffad196 437 if(forwardSafety == 0)
jvfausto 21:3489cffad196 438 {
jvfausto 21:3489cffad196 439 temporV += vOut;
jvfausto 21:3489cffad196 440 temporS += vOutS;
jvfausto 21:3489cffad196 441
jvfausto 21:3489cffad196 442 /* Updates x,y sent to Wheelchair and for Odometry message in ROS */
jvfausto 21:3489cffad196 443 x->write(temporV);
jvfausto 21:3489cffad196 444 test2 = temporV;
jvfausto 21:3489cffad196 445 y->write(temporS);
jvfausto 21:3489cffad196 446 }
jvfausto 21:3489cffad196 447 else
jvfausto 21:3489cffad196 448 {
jvfausto 21:3489cffad196 449 x->write(def);
jvfausto 21:3489cffad196 450 y->write(def);
jvfausto 21:3489cffad196 451 }
jvfausto 21:3489cffad196 452 //out->printf("Velosity: %f, Velosity2: %f, temporV %f, temporS %f\r\n", curr_vel, curr_velS, temporV, temporS);
jvfausto 21:3489cffad196 453 Wheelchair::odomMsg();
jvfausto 21:3489cffad196 454 wait(.01); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 455 }
ryanlin97 11:d14a1f7f1297 456 }
ryanlin97 11:d14a1f7f1297 457
jvfausto 21:3489cffad196 458 /* This constructor calculates the relative position of the chair everytime the encoders reset
jvfausto 21:3489cffad196 459 * by setting its old position as the origin to calculate the new position
jvfausto 21:3489cffad196 460 */
jvfausto 21:3489cffad196 461 void Wheelchair::odomMsg()
ryanlin97 11:d14a1f7f1297 462 {
jvfausto 21:3489cffad196 463 double dist_new = curr_pos;
jvfausto 21:3489cffad196 464 double dist = dist_new-dist_old;
jvfausto 21:3489cffad196 465 double temp_x = dist*sin(z_angular*3.14159/180);
jvfausto 21:3489cffad196 466 double temp_y = dist*cos(z_angular*3.14159/180);
jvfausto 21:3489cffad196 467
jvfausto 21:3489cffad196 468 x_position += temp_x;
jvfausto 21:3489cffad196 469 y_position += temp_y;
ryanlin97 11:d14a1f7f1297 470
jvfausto 21:3489cffad196 471 dist_old = dist_new;
jvfausto 21:3489cffad196 472 }
jvfausto 21:3489cffad196 473
jvfausto 21:3489cffad196 474 /* This constructor prints the Odometry message to the serial monitor */
jvfausto 21:3489cffad196 475 void Wheelchair::showOdom()
jvfausto 21:3489cffad196 476 {
jvfausto 21:3489cffad196 477 out->printf("x %f, y %f, angle %f", x_position, y_position, z_angular);
jvfausto 21:3489cffad196 478 }
jvfausto 21:3489cffad196 479
jvfausto 21:3489cffad196 480 /* This constructor returns the approximate distance based on the wheel diameter */
jvfausto 21:3489cffad196 481 float Wheelchair::getDistance()
jvfausto 21:3489cffad196 482 {
jvfausto 21:3489cffad196 483 return wheel->getDistance(Diameter);
ryanlin97 6:0cd57bdd8fbc 484 }
ryanlin97 8:381a4ec3fef8 485
jvfausto 21:3489cffad196 486 /* This constructor resets the wheel encoder's */
jvfausto 21:3489cffad196 487 void Wheelchair::resetDistance()
jvfausto 21:3489cffad196 488 {
ryanlin97 12:921488918749 489 wheel->reset();
jvfausto 21:3489cffad196 490 }
jvfausto 21:3489cffad196 491
jvfausto 21:3489cffad196 492
jvfausto 21:3489cffad196 493 /*Predetermined paths For Demmo*/
jvfausto 21:3489cffad196 494 void Wheelchair::desk()
jvfausto 21:3489cffad196 495 {
jvfausto 19:71a6621ee5c3 496 Wheelchair::pid_forward(5461);
jvfausto 19:71a6621ee5c3 497 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 498 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 499 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 500 Wheelchair::pid_forward(3658);
jvfausto 21:3489cffad196 501 }
jvfausto 21:3489cffad196 502
jvfausto 21:3489cffad196 503 void Wheelchair::kitchen()
jvfausto 21:3489cffad196 504 {
jvfausto 19:71a6621ee5c3 505 Wheelchair::pid_forward(5461);
jvfausto 20:f42db4ae16f0 506 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 507 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 508 Wheelchair::pid_left(90);
jvfausto 19:71a6621ee5c3 509 Wheelchair::pid_forward(305);
jvfausto 21:3489cffad196 510 }
jvfausto 21:3489cffad196 511
jvfausto 21:3489cffad196 512 void Wheelchair::desk_to_kitchen()
jvfausto 21:3489cffad196 513 {
jvfausto 19:71a6621ee5c3 514 Wheelchair::pid_right(180);
jvfausto 19:71a6621ee5c3 515 Wheelchair::pid_forward(3700);
jvfausto 21:3489cffad196 516 }