Revision 10:347b11f2e19c, committed 2019-06-25

Comitter:

jvfausto

Date:

Tue Jun 25 17:55:17 2019 +0000

Parent:

9:ca11e4db63a7

Commit message:

a

Changed in this revision

--- a/main.cpp	Fri Apr 19 23:08:27 2019 +0000
+++ b/main.cpp	Tue Jun 25 17:55:17 2019 +0000
@@ -1,29 +1,30 @@
 #include "wheelchair.h"
 
-QEI wheel (D10, D9, NC, 1200);        //Initializes right encoder
-DigitalIn pt3(D10, PullUp);          //Pull up resistors to read analog signals into digital signals
+/* Intializes the right encoder */
+QEI wheelS(D9, D10, NC, 1200);  
+/* Set pull-up resistors to read analog signals into digital signals */
+DigitalIn pt3(D10, PullUp);         
 DigitalIn pt4(D9, PullUp);
 
-/*added*/
-//DigitalIn e_button(D4);     //emergency button will start at HIGH
-
-QEI wheelS (D7, D8, NC, 1200);    //Initializes Left encoder
-DigitalIn pt1(D7, PullUp);          //Pull up resistors to read analog signals into digital signals
+/* Initializes Left encoder */
+QEI wheel (D7, D8, NC, 1200);    
+/* Set pull-up resistors to read analog signals into digital signals */
+DigitalIn pt1(D7, PullUp);         
 DigitalIn pt2(D8, PullUp);
 
-int max_velocity;
-//Timer testAccT;
-
-AnalogIn x(A0);                     //Initializes analog axis for the joystick
+/* Initializes analog axis for the joystick */
+AnalogIn x(A0);                    
 AnalogIn y(A1);
 
-DigitalOut up(D12);                  //Turn up speed mode for joystick 
-DigitalOut down(D13);                //Turn down speed mode for joystick 
-DigitalOut on(D14);                 //Turn Wheelchair On
-DigitalOut off(D15);                //Turn Wheelchair Off
-bool manual = false;                //Turns chair joystic to automatic and viceverza
+double test1;
+double test2;
 
-Serial pc(USBTX, USBRX, 57600);     //Serial Monitor
+/* Initializing more pins for wheelchair control */
+DigitalOut up(D2);                                                  //Turn up speed mode for joystick 
+DigitalOut down(D8);                                                //Turn down speed mode for joystick 
+DigitalOut on(D12);                                                 //Turn Wheelchair On
+DigitalOut off(D11);                                                //Turn Wheelchair Off
+
 
 VL53L1X sensor1(PB_11, PB_10, D0);         //initializes ToF sensors
 VL53L1X sensor2(PB_11, PB_10, D1);
@@ -42,98 +43,116 @@
 &sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12};                 //puts ToF sensor pointers into an array
 VL53L1X** ToFT = ToF;
 
-Timer t;                            //Initialize time object t
-EventQueue queue;                   //Class to organize threads
+/* Changes the control mode of wheelchair: Automatic or Manual */
+bool manual = false;                                        
+
+Serial pc(USBTX, USBRX, 57600);                                     //Serial Monitor
+Timer t;                                                            //Initialize time object t
+EventQueue queue;                                                   //Class to organize threads
+
+ros::NodeHandle nh;
+nav_msgs::Odometry odom;
+geometry_msgs::Twist commandRead;
+
+void handlerFunction(const geometry_msgs::Twist& command){
+    commandRead = command;
+}
+
+ros::Subscriber<geometry_msgs::Twist> sub("cmd_vel", &handlerFunction);
+ros::Publisher chatter("odom", &odom);
+ros::Publisher chatter2("cmd_vel", &commandRead);
+
+/* Initialize Wheelchair objects and threads */
 Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS, ToFT); //Initialize wheelchair object
-Thread compass;                      //Thread for compass
-Thread velocity;                      //Thread for velosity
-Thread assistSafe;                  //thread for safety stuff
+Thread compass;                      
+Thread velocity;                      
+Thread ros_com;    
+Thread assistSafe;        
 
+/* This thread continues the communication with ROS and Mbed */
+void rosCom_thread();
 
 int main(void)
 {   
-/*    nh.initNode();
+    /* Initialize ROS commands to publish and subscribe to nodes */
+    nh.initNode();
     nh.advertise(chatter);
     nh.advertise(chatter2);
-    nh.subscribe(sub);*/
-    //testAccT.start();
-    pc.printf("before starting\r\n");
-    queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread);  //Sets up sampling frequency of the compass_thread
-    queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); //Sets up sampling frequency of the velosity_thread
+    nh.subscribe(sub);
+    
+    /* Sets up sampling frequency of threads */
+    queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread);      
+    queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread);  
     queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::assistSafe_thread); //Sets up sampling frequency of the velosity_thread
-    //queue.call_every(200, rosCom_thread); //Sets up sampling frequency of the velosity_thread
-    t.reset();
-    compass.start(callback(&queue, &EventQueue::dispatch_forever));      //Starts running the compass thread
-    velocity.start(callback(&queue, &EventQueue::dispatch_forever));     //Starts running the velosity thread
+    queue.call_every(200, rosCom_thread);                              
+    
+    t.reset();                                                            //resets the time
+    
+    /* Start running threads */
+    compass.start(callback(&queue, &EventQueue::dispatch_forever));          
+    velocity.start(callback(&queue, &EventQueue::dispatch_forever));  
     assistSafe.start(callback(&queue, &EventQueue::dispatch_forever));     //Starts running the velosity thread
-    //ros_com.start(callback(&queue, &EventQueue::dispatch_forever));     //Starts running the velosity thread
-        pc.printf("After starting\r\n");
-
-    //added
- //   int emerg_button = e_button;
- 
-    int set = 0;
+    ros_com.start(callback(&queue, &EventQueue::dispatch_forever));     
+    
+    
     while(1) {
-        if( pc.readable()) {
-            set = 1;
-            char c = pc.getc();                                         //Read the instruction sent
-            if( c == 'w') {
-                smart.forward();                                        //Move foward
-
-            }
-            else if( c == 'a') {
-                smart.left();                                           //Turn left
-            }
-            else if( c == 'd') {
-                smart.right();                                          //Turn right
-            }
-            else if( c == 's') {
-                smart.backward();                                       //Turn rackwards
-            }
-            
-            else if( c == 't') {                                        
-                smart.pid_twistA();
-            } else if(c == 'v'){
-                smart.showOdom();
-            } else if(c == 'o') {                                       //Turns on chair
-                pc.printf("turning on\r\n");
-                on = 1;
-                wait(1);
-                on = 0;
-            } else if(c == 'f') {                                       //Turns off chair
-                pc.printf("turning off\r\n");
-                off = 1;
-                wait(1);
-                off = 0;
-            
-            } else if(c == 'k'){                                        //Sends command to go to the kitchen
-                smart.pid_twistV();
-            } else if( c == 'm' || manual) {                            //Turns wheelchair to joystick
-                pc.printf("turning on joystick\r\n");
-                manual = true;
-                t.reset();
-                while(manual) {
-                    smart.move(x,y);                                    //Reads from joystick and moves
-                    if( pc.readable()) {
-                        char d = pc.getc();
-                        if( d == 'm') {                                 //Turns wheelchair from joystick into auto
-                            pc.printf("turning off joystick\r\n");
-                            manual = false;
-                        }
-                    }
-                }   
-            }
-             else {
-                    pc.printf("none \r\n");
-                    smart.stop();                                      //If nothing else is happening stop the chair
-            }
+        /* If Ros comands the wheelchair to move fowards or backwards*/
+        if(commandRead.linear.x != 0) 
+        {                                        
+            smart.pid_twistV();                                           //Updates the twist linear velocity of chair
+            test1 = 3.14159;
+        } 
+        /* If Ros comands the wheelchair to turn at a certain speed*/
+        else if(commandRead.angular.z != 0)                               
+        {                         
+                smart.pid_twistA();                                       //Updates the twist angular velocity of chair
+                test2 = 2.782;
+        } 
+        /* If Ros does not give veloc
+        ity comands*/
+        else
+        {
+            smart.stop();                                                 //Stops the chair
+            test2 = 0;
+            test1 = 0;
         }
-        else {
-            
-            smart.stop();                                              //If nothing else is happening stop the chair
-        }
-
-        wait(process);
+        wait(process);                                                    //Delay
     }
+    
 }
 
+/* This thread allows for continuous update and publishing of ROS Odometry/Twist message  */
+void rosCom_thread()
+{
+        /*Determines linear and angular velocity */
+        smart.linearV = commandRead.linear.x;
+        smart.angularV = commandRead.angular.z*180/3.1415926;
+    
+        /* Publishes the position of the Wheelchair for Odometry */
+        odom.pose.pose.position.x = smart.x_position;
+        odom.pose.pose.position.y = smart.y_position;
+        odom.pose.pose.position.z = 0;
+    
+        /* Publishes the orientation of the Wheelchair for Odometry */
+        odom.pose.pose.orientation.z = sin(smart.z_angular*.5*3.1415926/180);
+        odom.pose.pose.orientation.x = 0;
+        odom.pose.pose.orientation.y = 0;
+        odom.pose.pose.orientation.w = cos(smart.z_angular*.5*3.1415926/180);
+    
+        /* Publishes Twist linear velocity of Wheelchair */
+        odom.twist.twist.linear.x = smart.vel;
+        odom.twist.twist.linear.y = commandRead.linear.x;
+        odom.twist.twist.linear.z = commandRead.angular.z;
+    
+        /* Publishes Twist angular velocity of Wheelchair */
+        odom.twist.twist.angular.x = test1;
+        odom.twist.twist.angular.y = test2;
+        odom.twist.twist.angular.z = smart.getTwistZ()*3.1415926/180;
+    
+        /* Allows for Odometry to be published and sent to ROS */
+        chatter.publish(&odom);
+        //chatter2.publish(&commandRead);
+        
+        /*Checks for incoming messages */
+        nh.spinOnce();                
+}    
\ No newline at end of file

--- a/wheelchaircontrol.lib	Fri Apr 19 23:08:27 2019 +0000
+++ b/wheelchaircontrol.lib	Tue Jun 25 17:55:17 2019 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/jvfausto/code/wheelchaircontrol1/#fb99cce6b9b5
+https://os.mbed.com/users/jvfausto/code/wheelchaircontrolros/#302d03ee1ae0