wheelchair.h

00001 #ifndef wheelchair
00002 #define wheelchair
00003 
00004 //Importing libraries into wheelchair.h
00005 #include "chair_BNO055.h"
00006 #include "PID.h"
00007 #include "QEI.h"
00008 #include <ros.h>
00009 #include <geometry_msgs/Twist.h>
00010 #include <nav_msgs/Odometry.h>
00011 
00012 
00013 /*
00014 * joystick has analog out of 200-700, scale values between 1.3 and 3.3
00015 */             
00016 #define def (2.5f/3.3f)                 //Default axis on joystick to stay neutral; used on x and y axis
00017 #define high 3.3f/3.3f                  //High power on joystick; used on x and y axis
00018 #define low (1.7f/3.3f)                 //Low power on joystick; used on x and y axis
00019 #define offset .035f                  //Joystick ajustment to be able to go strait. Chair dependent on manufactoring presision
00020 #define process .1                      //Defines default time delay in seconds
00021 
00022 //Pin plug in for Nucleo-L432KC
00023 #define xDir D9                         //PWM Pins
00024 #define yDir D10
00025 #define Encoder1 D7                     //Digital In Pull Up Pin
00026 #define Encoder2 D8
00027 
00028 #define Diameter 31.75                  //Diameter of encoder wheel
00029 /** Wheelchair class
00030  * Used for controlling the smart wheelchair
00031  */
00032 
00033 class Wheelchair
00034 {
00035 public:
00036     /** Create Wheelchair Object with x,y pin for analog dc output
00037      * serial for printout, and timer
00038      */
00039     Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* wheel, QEI* wheelS);
00040     
00041     /** move using the joystick */
00042     void move(float x_coor, float y_coor);
00043     
00044     /* turn right a certain amount of degrees using PID*/
00045     void pid_right(int deg);
00046     
00047     /* turn left a certain amount of degrees using PID*/
00048     void pid_left(int deg);
00049     
00050     /* drive the wheelchair forward */
00051     void forward();
00052     
00053     /* drive the wheelchair backward*/
00054     void backward();
00055     
00056     /* turn the wheelchair right*/
00057     void right();
00058     
00059     /* turn the wheelchair left*/
00060     void left();
00061     
00062     /* stop the wheelchair*/
00063     void stop();
00064     
00065     /* function to get imu data*/
00066     void compass_thread();
00067     void velosity_thread();
00068     void rosCom_thread();
00069     
00070     /* move x millimiters foward using PID*/
00071     void pid_forward(double mm);
00072     
00073     /* move x millimiters reverse using PID*/
00074     void pid_reverse(double mm);
00075     
00076     /*  gets the encoder distance moved since encoder reset*/
00077     float getDistance();
00078     
00079     /* resets encoder*/
00080     void resetDistance();
00081     
00082     /* function to to determine whether we are turning left or right*/
00083     void pid_turn(int deg);
00084     
00085     void pid_twistA();
00086     void pid_twistV();
00087     
00088     void odomMsg();
00089     void showOdom();
00090     
00091     /* functions with a predetermined path demmo*/
00092     void desk();
00093     void kitchen();
00094     void desk_to_kitchen();
00095     
00096 
00097     double getTwistZ();
00098 
00099     
00100     double x_position;
00101     double y_position;
00102     double z_angular;   
00103     double curr_vel;
00104     double z_twistA;
00105 private:
00106     /* Pointers for the joystick speed*/
00107     PwmOut* x;
00108     PwmOut* y;
00109     
00110     chair_BNO055* imu;                  // Pointer to IMU
00111     Serial* out;                        // Pointer to Serial Monitor
00112     Timer* ti;                          // Pointer to the timer
00113     QEI* wheel;                         // Pointer to encoder
00114     QEI* wheelS;                         // Pointer to encoder
00115 };
00116 #endif