Jesus Fausto / wheelchaircontrol1

1

Dependencies:   QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic

Dependents:   wheelchairControlSumer2019

wheelchair.cpp@27:da718b990837, 2019-06-28 (annotated)

Committer:
jvfausto
Date:
Fri Jun 28 21:16:26 2019 +0000
Revision:
27:da718b990837
Parent:
26:662693bd7f31
Child:
30:b24d73663499
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 27:da718b990837 45 }
jvfausto 27:da718b990837 46
jvfausto 26:662693bd7f31 47 //out->printf("\r\n");
jvfausto 27:da718b990837 48
jvfausto 27:da718b990837 49
jvfausto 27:da718b990837 50 for(int i = 0; i < 4; i++) { // Reads from the ToF Sensors
jvfausto 27:da718b990837 51 runningAverage[i] = ((runningAverage[i]*(4) + ToFV[(i*3)+1]) / 5);
jvfausto 27:da718b990837 52 }
jvfausto 27:da718b990837 53
jvfausto 27:da718b990837 54 int sensor1 = ToFV[0];
jvfausto 27:da718b990837 55 int sensor4 = ToFV[3];
jvfausto 27:da718b990837 56 out->printf("%d, %d\r\n", ToFV[1], runningAverage[0]);
jvfausto 27:da718b990837 57 if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor1 < curr_vel*curr_vel*1000*1000 ||
jvfausto 26:662693bd7f31 58 2 * maxDecelerationSlow*sensor4 < curr_vel*curr_vel*1000*1000) &&
jvfausto 26:662693bd7f31 59 (sensor1 < 1500 || sensor4 < 1500)) ||
jvfausto 26:662693bd7f31 60 550 > sensor1 || 550 > sensor4)
jvfausto 26:662693bd7f31 61 {
jvfausto 26:662693bd7f31 62 //out->printf("i am in danger\r\n");
jvfausto 26:662693bd7f31 63 if(x->read() > def)
jvfausto 26:662693bd7f31 64 {
jvfausto 26:662693bd7f31 65 x->write(def);
jvfausto 26:662693bd7f31 66 forwardSafety = 1;
jvfausto 26:662693bd7f31 67 }
jvfausto 26:662693bd7f31 68 }
jvfausto 26:662693bd7f31 69 else if(curr_vel > 1 &&((2 * maxDecelerationFast*sensor1 < curr_vel*curr_vel*1000*1000 ||
jvfausto 26:662693bd7f31 70 2 * maxDecelerationFast*sensor4 < curr_vel*curr_vel*1000*1000) &&
jvfausto 21:3489cffad196 71 (sensor1 < 1500 || sensor4 < 1500)) ||
jvfausto 21:3489cffad196 72 550 > sensor1 || 550 > sensor4)
jvfausto 21:3489cffad196 73 {
jvfausto 21:3489cffad196 74 //out->printf("i am in danger\r\n");
jvfausto 21:3489cffad196 75 if(x->read() > def)
jvfausto 21:3489cffad196 76 {
jvfausto 21:3489cffad196 77 x->write(def);
jvfausto 21:3489cffad196 78 forwardSafety = 1;
jvfausto 21:3489cffad196 79 }
jvfausto 21:3489cffad196 80 }
jvfausto 21:3489cffad196 81 else
jvfausto 21:3489cffad196 82 forwardSafety = 0;
jvfausto 27:da718b990837 83
jvfausto 21:3489cffad196 84 }
ryanlin97 6:0cd57bdd8fbc 85
jvfausto 21:3489cffad196 86 /* Constructor for Wheelchair class */
jvfausto 21:3489cffad196 87 Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS,
jvfausto 21:3489cffad196 88 VL53L1X** ToFT)
jvfausto 21:3489cffad196 89 {
jvfausto 21:3489cffad196 90 x_position = 0;
jvfausto 21:3489cffad196 91 y_position = 0;
jvfausto 21:3489cffad196 92 forwardSafety = 0;
jvfausto 21:3489cffad196 93 /* Initializes X and Y variables to Pins */
jvfausto 21:3489cffad196 94 x = new PwmOut(xPin);
jvfausto 21:3489cffad196 95 y = new PwmOut(yPin);
jvfausto 21:3489cffad196 96 /* Initializes IMU Library */
jvfausto 26:662693bd7f31 97 out = pc; // "out" is called for serial monitor
jvfausto 26:662693bd7f31 98 out->printf("on\r\n");
jvfausto 21:3489cffad196 99 imu = new chair_BNO055(pc, time);
jvfausto 21:3489cffad196 100 Wheelchair::stop(); // Wheelchair is initially stationary
jvfausto 21:3489cffad196 101 imu->setup(); // turns on the IMU
jvfausto 21:3489cffad196 102 wheelS = qeiS; // "wheel" is called for encoder
jvfausto 21:3489cffad196 103 wheel = qei;
jvfausto 21:3489cffad196 104 ToF = ToFT; // passes pointer with addresses of ToF sensors
jvfausto 21:3489cffad196 105
jvfausto 21:3489cffad196 106 for(int i = 0; i < 12; i++) // initializes the ToF Sensors
jvfausto 21:3489cffad196 107 {
jvfausto 21:3489cffad196 108 (*(ToF+i))->initReading(0x31+((0x02)*i), 50000);
jvfausto 21:3489cffad196 109 }
jvfausto 21:3489cffad196 110
jvfausto 21:3489cffad196 111 out->printf("wheelchair setup done \r\n"); // Make sure it initialized; prints in serial monitor
jvfausto 21:3489cffad196 112 ti = time;
jvfausto 27:da718b990837 113 for(int i = 0; i < 100; i++)
jvfausto 27:da718b990837 114 {
jvfausto 27:da718b990837 115 ledgeArrayLF[i] = (*(ToF+1))->readFromOneSensor();
jvfausto 27:da718b990837 116 ledgeArrayRF[i] = (*(ToF+1))->readFromOneSensor();
jvfausto 27:da718b990837 117 }
jvfausto 27:da718b990837 118 int* aaa = ledgeArrayLF;
jvfausto 27:da718b990837 119 statistics LFTStats(aaa, 100, 0);
jvfausto 27:da718b990837 120 out->printf("stadistics = %f, %f", LFTStats.mean(), LFTStats.stdev());
jvfausto 21:3489cffad196 121 myPID.SetMode(AUTOMATIC); // PID mode: Automatic
jvfausto 21:3489cffad196 122 }
jvfausto 21:3489cffad196 123
jvfausto 21:3489cffad196 124 /* Move wheelchair with joystick on manual mode */
jvfausto 21:3489cffad196 125 void Wheelchair::move(float x_coor, float y_coor)
jvfausto 21:3489cffad196 126 {
jvfausto 21:3489cffad196 127 /* Scales one joystick measurement to the chair's joystick measurement */
ryanlin97 4:29a27953fe70 128 float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
ryanlin97 4:29a27953fe70 129 float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
jvfausto 21:3489cffad196 130
jvfausto 21:3489cffad196 131 /* Sends the scaled joystic values to the chair */
jvfausto 21:3489cffad196 132 x->write(scaled_x);
ryanlin97 4:29a27953fe70 133 y->write(scaled_y);
ryanlin97 5:e0ccaab3959a 134 }
jvfausto 21:3489cffad196 135
jvfausto 21:3489cffad196 136 /* Automatic mode: move forward and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 137 void Wheelchair::forward()
ryanlin97 1:c0beadca1617 138 {
jvfausto 26:662693bd7f31 139 //printf("current velosity; %f, curr vel S %f\r\n", curr_vel, curr_velS);
jvfausto 21:3489cffad196 140 if(forwardSafety == 0)
jvfausto 21:3489cffad196 141 {
ryanlin97 0:fc0c4a184482 142 x->write(high);
ryanlin97 3:a5e71bfdb492 143 y->write(def+offset);
jvfausto 21:3489cffad196 144 }
jvfausto 26:662693bd7f31 145 out->printf("%f, %f\r\n", curr_pos, wheelS->getDistance(53.975));
ryanlin97 0:fc0c4a184482 146 }
jvfausto 21:3489cffad196 147
jvfausto 21:3489cffad196 148 /* Automatic mode: move in reverse and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 149 void Wheelchair::backward()
ryanlin97 1:c0beadca1617 150 {
ryanlin97 0:fc0c4a184482 151 x->write(low);
ryanlin97 0:fc0c4a184482 152 y->write(def);
ryanlin97 0:fc0c4a184482 153 }
jvfausto 21:3489cffad196 154
jvfausto 21:3489cffad196 155 /* Automatic mode: move right and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 156 void Wheelchair::right()
ryanlin97 1:c0beadca1617 157 {
ryanlin97 0:fc0c4a184482 158 x->write(def);
ryanlin97 11:d14a1f7f1297 159 y->write(low);
ryanlin97 0:fc0c4a184482 160 }
ryanlin97 0:fc0c4a184482 161
jvfausto 21:3489cffad196 162 /* Automatic mode: move left and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 163 void Wheelchair::left()
ryanlin97 1:c0beadca1617 164 {
ryanlin97 0:fc0c4a184482 165 x->write(def);
ryanlin97 11:d14a1f7f1297 166 y->write(high);
ryanlin97 0:fc0c4a184482 167 }
jvfausto 21:3489cffad196 168
jvfausto 21:3489cffad196 169 /* Stop the wheelchair */
jvfausto 21:3489cffad196 170 void Wheelchair::stop()
ryanlin97 1:c0beadca1617 171 {
ryanlin97 0:fc0c4a184482 172 x->write(def);
ryanlin97 0:fc0c4a184482 173 y->write(def);
ryanlin97 6:0cd57bdd8fbc 174 }
jvfausto 21:3489cffad196 175
jvfausto 21:3489cffad196 176 /* Counter-clockwise is -
jvfausto 21:3489cffad196 177 * Clockwise is +
jvfausto 21:3489cffad196 178 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 179 * This constructor takes in an angle from user and adjusts for turning right
jvfausto 21:3489cffad196 180 */
jvfausto 21:3489cffad196 181 void Wheelchair::pid_right(int deg)
ryanlin97 12:921488918749 182 {
jvfausto 21:3489cffad196 183 bool overturn = false; //Boolean if angle over 360˚
ryanlin97 12:921488918749 184
jvfausto 21:3489cffad196 185 out->printf("pid right\r\r\n");
jvfausto 21:3489cffad196 186 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 187 Setpoint = curr_yaw + deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 188 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 189
jvfausto 21:3489cffad196 190 /* Turns on overturn boolean if setpoint over 360˚ */
jvfausto 21:3489cffad196 191 if(Setpoint > 360)
jvfausto 21:3489cffad196 192 {
ryanlin97 12:921488918749 193 overturn = true;
ryanlin97 12:921488918749 194 }
jvfausto 21:3489cffad196 195
jvfausto 21:3489cffad196 196 myPID.SetTunings(5.5,0, 0.0035); // Sets the constants for P and D
jvfausto 21:3489cffad196 197 myPID.SetOutputLimits(0, def-low-.15); // Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 198 myPID.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 199
jvfausto 21:3489cffad196 200 /* PID stops when approaching a litte less than desired angle */
jvfausto 21:3489cffad196 201 while(pid_yaw < Setpoint - 3)
jvfausto 21:3489cffad196 202 {
jvfausto 21:3489cffad196 203 /* PID is set to correct angle range if angle greater than 360˚*/
jvfausto 17:7f3b69300bb6 204 if(overturn && curr_yaw < Setpoint-deg-1)
jvfausto 17:7f3b69300bb6 205 {
jvfausto 21:3489cffad196 206 pid_yaw = curr_yaw + 360;
jvfausto 21:3489cffad196 207 }
jvfausto 21:3489cffad196 208 else
jvfausto 21:3489cffad196 209 {
jvfausto 17:7f3b69300bb6 210 pid_yaw = curr_yaw;
ryanlin97 12:921488918749 211 }
jvfausto 21:3489cffad196 212
jvfausto 21:3489cffad196 213 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 214 double tempor = -Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 215 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 216
jvfausto 21:3489cffad196 217 /* Prints to serial monitor the current angle and setpoint */
jvfausto 21:3489cffad196 218 out->printf("curr_yaw %f\r\r\n", curr_yaw);
jvfausto 21:3489cffad196 219 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 220
jvfausto 21:3489cffad196 221 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 222 }
jvfausto 21:3489cffad196 223
jvfausto 21:3489cffad196 224 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 225 Wheelchair::stop();
jvfausto 21:3489cffad196 226 out->printf("done \r\n");
jvfausto 21:3489cffad196 227 }
jvfausto 21:3489cffad196 228
jvfausto 21:3489cffad196 229 /* Counter-clockwise is -
jvfausto 21:3489cffad196 230 * Clockwise is +
jvfausto 21:3489cffad196 231 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 232 * This constructor takes in an angle from user and adjusts for turning left
jvfausto 21:3489cffad196 233 */
jvfausto 21:3489cffad196 234 void Wheelchair::pid_left(int deg)
ryanlin97 12:921488918749 235 {
jvfausto 21:3489cffad196 236 bool overturn = false; //Boolean if angle under 0˚
ryanlin97 12:921488918749 237
jvfausto 21:3489cffad196 238 out->printf("pid Left\r\r\n");
jvfausto 21:3489cffad196 239 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 240 Setpoint = curr_yaw - deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 241 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 242
jvfausto 21:3489cffad196 243 /* Turns on overturn boolean if setpoint less than 0˚ */
jvfausto 21:3489cffad196 244 if(Setpoint < 0)
jvfausto 21:3489cffad196 245 {
ryanlin97 12:921488918749 246 overturn = true;
ryanlin97 12:921488918749 247 }
jvfausto 21:3489cffad196 248
jvfausto 21:3489cffad196 249 myPID.SetTunings(5,0, 0.004); // Sets the constants for P and D
jvfausto 21:3489cffad196 250 myPID.SetOutputLimits(0,high-def-.12); //Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 251 myPID.SetControllerDirection(REVERSE); // PID mode: Reverse
jvfausto 21:3489cffad196 252
jvfausto 21:3489cffad196 253 /* PID stops when approaching a litte more than desired angle */
jvfausto 21:3489cffad196 254 while(pid_yaw > Setpoint+3)
jvfausto 21:3489cffad196 255 {
jvfausto 21:3489cffad196 256 /* PID is set to correct angle range if angle less than 0˚ */
jvfausto 21:3489cffad196 257 if(overturn && curr_yaw > Setpoint+deg+1)
jvfausto 17:7f3b69300bb6 258 {
jvfausto 17:7f3b69300bb6 259 pid_yaw = curr_yaw - 360;
jvfausto 21:3489cffad196 260 }
jvfausto 21:3489cffad196 261 else
jvfausto 21:3489cffad196 262 {
jvfausto 21:3489cffad196 263 pid_yaw = curr_yaw;
jvfausto 21:3489cffad196 264 }
jvfausto 21:3489cffad196 265
jvfausto 21:3489cffad196 266 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 267 double tempor = Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 268 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 269
jvfausto 21:3489cffad196 270 /* Prints to serial monitor the current angle and setpoint */
jvfausto 17:7f3b69300bb6 271 out->printf("curr_yaw %f\r\n", curr_yaw);
jvfausto 21:3489cffad196 272 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 273
jvfausto 21:3489cffad196 274 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 275 }
jvfausto 21:3489cffad196 276
jvfausto 21:3489cffad196 277 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 278 Wheelchair::stop();
jvfausto 21:3489cffad196 279 out->printf("done \r\n");
ryanlin97 12:921488918749 280
jvfausto 21:3489cffad196 281 }
jvfausto 21:3489cffad196 282
jvfausto 21:3489cffad196 283 /* This constructor determines whether to turn left or right */
jvfausto 21:3489cffad196 284 void Wheelchair::pid_turn(int deg)
jvfausto 21:3489cffad196 285 {
jvfausto 21:3489cffad196 286
jvfausto 21:3489cffad196 287 /* Sets angle to coterminal angle for left turn if deg > 180
jvfausto 21:3489cffad196 288 * Sets angle to coterminal angle for right turn if deg < -180
jvfausto 21:3489cffad196 289 */
jvfausto 21:3489cffad196 290 if(deg > 180)
jvfausto 21:3489cffad196 291 {
ryanlin97 12:921488918749 292 deg -= 360;
ryanlin97 12:921488918749 293 }
jvfausto 21:3489cffad196 294 else if(deg < -180)
jvfausto 21:3489cffad196 295 {
jvfausto 21:3489cffad196 296 deg +=360;
ryanlin97 12:921488918749 297 }
ryanlin97 12:921488918749 298
jvfausto 21:3489cffad196 299 /* Makes sure angle inputted to function is positive */
ryanlin97 12:921488918749 300 int turnAmt = abs(deg);
jvfausto 21:3489cffad196 301
jvfausto 21:3489cffad196 302 /* Calls PID_right if deg > 0, else calls PID_left if deg < 0 */
jvfausto 21:3489cffad196 303 if(deg >= 0)
jvfausto 21:3489cffad196 304 {
jvfausto 21:3489cffad196 305 Wheelchair::pid_right(turnAmt);
jvfausto 21:3489cffad196 306 }
jvfausto 21:3489cffad196 307 else
jvfausto 21:3489cffad196 308 {
jvfausto 21:3489cffad196 309 Wheelchair::pid_left(turnAmt);
jvfausto 21:3489cffad196 310 }
ryanlin97 12:921488918749 311
jvfausto 21:3489cffad196 312 }
jvfausto 21:3489cffad196 313
jvfausto 21:3489cffad196 314 /* This constructor takes in distance to travel and adjust to move forward */
jvfausto 19:71a6621ee5c3 315 void Wheelchair::pid_forward(double mm)
jvfausto 17:7f3b69300bb6 316 {
jvfausto 21:3489cffad196 317 mm -= 20; // Makes sure distance does not overshoot
jvfausto 21:3489cffad196 318 Input = 0; // Initializes input to zero: Test latter w/o
jvfausto 21:3489cffad196 319 wheel->reset(); // Resets encoders so that they start at 0
jvfausto 21:3489cffad196 320
jvfausto 17:7f3b69300bb6 321 out->printf("pid foward\r\n");
jvfausto 21:3489cffad196 322
jvfausto 21:3489cffad196 323 double tempor; // Initializes Temporary variable for x input
jvfausto 21:3489cffad196 324 Setpoint = mm; // Initializes the setpoint to desired value
jvfausto 21:3489cffad196 325
jvfausto 21:3489cffad196 326 myPIDDistance.SetTunings(5.5,0, 0.0015); // Sets constants for P and D
jvfausto 21:3489cffad196 327 myPIDDistance.SetOutputLimits(0,high-def-.15); // Limit set to difference between high and def
jvfausto 21:3489cffad196 328 myPIDDistance.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 329
jvfausto 21:3489cffad196 330 y->write(def+offset); // Update y to make chair stationary
jvfausto 21:3489cffad196 331
jvfausto 21:3489cffad196 332 /* Chair stops moving when Setpoint is reached */
jvfausto 21:3489cffad196 333 while(Input < Setpoint){
jvfausto 21:3489cffad196 334
jvfausto 21:3489cffad196 335 if(out->readable()) // Emergency Break
jvfausto 21:3489cffad196 336 {
jvfausto 21:3489cffad196 337 break;
jvfausto 21:3489cffad196 338 }
jvfausto 17:7f3b69300bb6 339
jvfausto 21:3489cffad196 340 Input = wheel->getDistance(53.975); // Gets distance from Encoder into PID
jvfausto 21:3489cffad196 341 wait(.05); // Slight Delay: *****Test without
jvfausto 21:3489cffad196 342 myPIDDistance.Compute(); // Compute distance traveled by chair
jvfausto 21:3489cffad196 343
jvfausto 21:3489cffad196 344 tempor = Output + def; // Temporary output variable
jvfausto 21:3489cffad196 345 x->write(tempor); // Update x sent to chair
jvfausto 17:7f3b69300bb6 346
jvfausto 21:3489cffad196 347 /* Prints to serial monitor the distance traveled by chair */
jvfausto 19:71a6621ee5c3 348 out->printf("distance %f\r\n", Input);
jvfausto 17:7f3b69300bb6 349 }
ryanlin97 12:921488918749 350
jvfausto 17:7f3b69300bb6 351 }
jvfausto 21:3489cffad196 352
jvfausto 21:3489cffad196 353 /* This constructor returns the relative angular position of chair */
jvfausto 21:3489cffad196 354 double Wheelchair::getTwistZ()
jvfausto 17:7f3b69300bb6 355 {
jvfausto 21:3489cffad196 356 return imu->gyro_z();
jvfausto 21:3489cffad196 357 }
jvfausto 18:663b6d693252 358
jvfausto 21:3489cffad196 359 /* This constructor computes the relative angle for Twist message in ROS */
jvfausto 21:3489cffad196 360 void Wheelchair::pid_twistA()
jvfausto 21:3489cffad196 361 {
jvfausto 21:3489cffad196 362 /* Initialize variables for angle and update x,y sent to chair */
jvfausto 21:3489cffad196 363 char c;
jvfausto 21:3489cffad196 364 double temporA = def;
jvfausto 21:3489cffad196 365 y->write(def);
jvfausto 21:3489cffad196 366 x->write(def);
jvfausto 21:3489cffad196 367
jvfausto 21:3489cffad196 368 PIDAngularV.SetTunings(.00015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 369 PIDAngularV.SetOutputLimits(-.1, .1); // Limit set to be in range specified
jvfausto 21:3489cffad196 370 PIDAngularV.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 371
jvfausto 21:3489cffad196 372 /* Computes angular position of wheelchair while turning */
jvfausto 21:3489cffad196 373 while(1)
jvfausto 21:3489cffad196 374 {
jvfausto 21:3489cffad196 375 yDesired = angularV;
jvfausto 21:3489cffad196 376
jvfausto 21:3489cffad196 377 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 378 * if the desired angle is zero
jvfausto 21:3489cffad196 379 */
jvfausto 21:3489cffad196 380 if(yDesired == 0)
jvfausto 18:663b6d693252 381 {
jvfausto 21:3489cffad196 382 x->write(def);
jvfausto 21:3489cffad196 383 y->write(def);
jvfausto 21:3489cffad196 384 yDesired = 0;
ryanlin97 8:381a4ec3fef8 385 return;
ryanlin97 7:5e38d43fbce3 386 }
jvfausto 21:3489cffad196 387
jvfausto 21:3489cffad196 388 /* Continuously updates with current angle measured by IMU */
jvfausto 21:3489cffad196 389 yIn = imu->gyro_z();
jvfausto 21:3489cffad196 390 PIDAngularV.Compute();
jvfausto 21:3489cffad196 391 temporA += yOut; // Temporary value with the voltage output
jvfausto 21:3489cffad196 392 y->write(temporA); // Update y sent to chair
jvfausto 21:3489cffad196 393
jvfausto 21:3489cffad196 394 //out->printf("temporA: %f, yDesired %f, angle: %f\r\n", temporA, yDesired, imu->gyro_z());
jvfausto 21:3489cffad196 395 wait(.05); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 396 }
jvfausto 21:3489cffad196 397
jvfausto 21:3489cffad196 398 }
ryanlin97 6:0cd57bdd8fbc 399
jvfausto 21:3489cffad196 400 /* This constructor computes the relative velocity for Twist message in ROS */
jvfausto 21:3489cffad196 401 void Wheelchair::pid_twistV()
ryanlin97 6:0cd57bdd8fbc 402 {
jvfausto 21:3489cffad196 403 /* Initializes variables as default */
jvfausto 21:3489cffad196 404 double temporV = def;
jvfausto 26:662693bd7f31 405 double temporS = def+offset;
jvfausto 21:3489cffad196 406 vDesiredS = 0;
jvfausto 21:3489cffad196 407 x->write(def);
jvfausto 21:3489cffad196 408 y->write(def);
jvfausto 21:3489cffad196 409 wheel->reset(); // Resets the encoders
jvfausto 21:3489cffad196 410 /* Sets the constants for P and D */
jvfausto 21:3489cffad196 411 PIDVelosity.SetTunings(.0005,0, 0.00);
jvfausto 26:662693bd7f31 412 PIDSlaveV.SetTunings(.005,0.000001, 0.000001);
jvfausto 21:3489cffad196 413
jvfausto 21:3489cffad196 414 /* Limits to the range specified */
jvfausto 21:3489cffad196 415 PIDVelosity.SetOutputLimits(-.005, .005);
jvfausto 21:3489cffad196 416 PIDSlaveV.SetOutputLimits(-.002, .002);
jvfausto 21:3489cffad196 417
jvfausto 21:3489cffad196 418 /* PID mode: Direct */
jvfausto 21:3489cffad196 419 PIDVelosity.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 420 PIDSlaveV.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 421
jvfausto 21:3489cffad196 422 while(1)
jvfausto 21:3489cffad196 423 {
jvfausto 21:3489cffad196 424 linearV = .7;
jvfausto 21:3489cffad196 425 test1 = linearV*100;
jvfausto 21:3489cffad196 426 vel = curr_vel;
jvfausto 21:3489cffad196 427 vDesired = linearV*100;
jvfausto 21:3489cffad196 428 if(out->readable())
jvfausto 21:3489cffad196 429 return;
jvfausto 21:3489cffad196 430 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 431 * if the velocity is zero
jvfausto 21:3489cffad196 432 */
jvfausto 21:3489cffad196 433 if(linearV == 0)
jvfausto 21:3489cffad196 434 {
jvfausto 21:3489cffad196 435 x->write(def);
jvfausto 21:3489cffad196 436 y->write(def);
ryanlin97 8:381a4ec3fef8 437
jvfausto 21:3489cffad196 438 vel = 0;
jvfausto 21:3489cffad196 439 vDesired = 0;
jvfausto 21:3489cffad196 440 dist_old = 0;
ryanlin97 8:381a4ec3fef8 441 return;
ryanlin97 8:381a4ec3fef8 442 }
jvfausto 21:3489cffad196 443
jvfausto 21:3489cffad196 444 if(vDesired >= 0)
jvfausto 21:3489cffad196 445 {
jvfausto 21:3489cffad196 446 PIDVelosity.SetTunings(.000004,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 447 PIDVelosity.SetOutputLimits(-.002, .002); // Limits to the range specified
jvfausto 21:3489cffad196 448 }
jvfausto 21:3489cffad196 449 else
jvfausto 21:3489cffad196 450 {
jvfausto 21:3489cffad196 451 PIDVelosity.SetTunings(.000015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 452 PIDVelosity.SetOutputLimits(-.0005, .0005); // Limits to range specified
jvfausto 21:3489cffad196 453 }
jvfausto 21:3489cffad196 454
jvfausto 21:3489cffad196 455 /* Sets maximum value of variable to 1 */
jvfausto 21:3489cffad196 456 if(temporV >= 1.5)
jvfausto 21:3489cffad196 457 {
jvfausto 21:3489cffad196 458 temporV = 1.5;
ryanlin97 8:381a4ec3fef8 459 }
jvfausto 21:3489cffad196 460 /* Scales and makes some adjustments to velocity */
jvfausto 21:3489cffad196 461 vIn = curr_vel*100;
jvfausto 21:3489cffad196 462 vInS = curr_vel-curr_velS;
jvfausto 21:3489cffad196 463 PIDVelosity.Compute();
jvfausto 21:3489cffad196 464 PIDSlaveV.Compute();
jvfausto 21:3489cffad196 465 if(forwardSafety == 0)
jvfausto 21:3489cffad196 466 {
jvfausto 21:3489cffad196 467 temporV += vOut;
jvfausto 21:3489cffad196 468 temporS += vOutS;
jvfausto 21:3489cffad196 469
jvfausto 21:3489cffad196 470 /* Updates x,y sent to Wheelchair and for Odometry message in ROS */
jvfausto 21:3489cffad196 471 x->write(temporV);
jvfausto 21:3489cffad196 472 test2 = temporV;
jvfausto 21:3489cffad196 473 y->write(temporS);
jvfausto 21:3489cffad196 474 }
jvfausto 21:3489cffad196 475 else
jvfausto 21:3489cffad196 476 {
jvfausto 21:3489cffad196 477 x->write(def);
jvfausto 21:3489cffad196 478 y->write(def);
jvfausto 21:3489cffad196 479 }
jvfausto 21:3489cffad196 480 //out->printf("Velosity: %f, Velosity2: %f, temporV %f, temporS %f\r\n", curr_vel, curr_velS, temporV, temporS);
jvfausto 21:3489cffad196 481 Wheelchair::odomMsg();
jvfausto 21:3489cffad196 482 wait(.01); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 483 }
ryanlin97 11:d14a1f7f1297 484 }
ryanlin97 11:d14a1f7f1297 485
jvfausto 21:3489cffad196 486 /* This constructor calculates the relative position of the chair everytime the encoders reset
jvfausto 21:3489cffad196 487 * by setting its old position as the origin to calculate the new position
jvfausto 21:3489cffad196 488 */
jvfausto 21:3489cffad196 489 void Wheelchair::odomMsg()
ryanlin97 11:d14a1f7f1297 490 {
jvfausto 21:3489cffad196 491 double dist_new = curr_pos;
jvfausto 21:3489cffad196 492 double dist = dist_new-dist_old;
jvfausto 21:3489cffad196 493 double temp_x = dist*sin(z_angular*3.14159/180);
jvfausto 21:3489cffad196 494 double temp_y = dist*cos(z_angular*3.14159/180);
jvfausto 21:3489cffad196 495
jvfausto 21:3489cffad196 496 x_position += temp_x;
jvfausto 21:3489cffad196 497 y_position += temp_y;
ryanlin97 11:d14a1f7f1297 498
jvfausto 21:3489cffad196 499 dist_old = dist_new;
jvfausto 21:3489cffad196 500 }
jvfausto 21:3489cffad196 501
jvfausto 21:3489cffad196 502 /* This constructor prints the Odometry message to the serial monitor */
jvfausto 21:3489cffad196 503 void Wheelchair::showOdom()
jvfausto 21:3489cffad196 504 {
jvfausto 21:3489cffad196 505 out->printf("x %f, y %f, angle %f", x_position, y_position, z_angular);
jvfausto 21:3489cffad196 506 }
jvfausto 21:3489cffad196 507
jvfausto 21:3489cffad196 508 /* This constructor returns the approximate distance based on the wheel diameter */
jvfausto 21:3489cffad196 509 float Wheelchair::getDistance()
jvfausto 21:3489cffad196 510 {
jvfausto 21:3489cffad196 511 return wheel->getDistance(Diameter);
ryanlin97 6:0cd57bdd8fbc 512 }
ryanlin97 8:381a4ec3fef8 513
jvfausto 21:3489cffad196 514 /* This constructor resets the wheel encoder's */
jvfausto 21:3489cffad196 515 void Wheelchair::resetDistance()
jvfausto 21:3489cffad196 516 {
ryanlin97 12:921488918749 517 wheel->reset();
jvfausto 21:3489cffad196 518 }
jvfausto 21:3489cffad196 519
jvfausto 21:3489cffad196 520
jvfausto 21:3489cffad196 521 /*Predetermined paths For Demmo*/
jvfausto 21:3489cffad196 522 void Wheelchair::desk()
jvfausto 21:3489cffad196 523 {
jvfausto 19:71a6621ee5c3 524 Wheelchair::pid_forward(5461);
jvfausto 19:71a6621ee5c3 525 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 526 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 527 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 528 Wheelchair::pid_forward(3658);
jvfausto 21:3489cffad196 529 }
jvfausto 21:3489cffad196 530
jvfausto 21:3489cffad196 531 void Wheelchair::kitchen()
jvfausto 21:3489cffad196 532 {
jvfausto 19:71a6621ee5c3 533 Wheelchair::pid_forward(5461);
jvfausto 20:f42db4ae16f0 534 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 535 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 536 Wheelchair::pid_left(90);
jvfausto 19:71a6621ee5c3 537 Wheelchair::pid_forward(305);
jvfausto 21:3489cffad196 538 }
jvfausto 21:3489cffad196 539
jvfausto 21:3489cffad196 540 void Wheelchair::desk_to_kitchen()
jvfausto 21:3489cffad196 541 {
jvfausto 19:71a6621ee5c3 542 Wheelchair::pid_right(180);
jvfausto 19:71a6621ee5c3 543 Wheelchair::pid_forward(3700);
jvfausto 21:3489cffad196 544 }