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with pid foward right left foward
Dependencies: wheelchaircontrolRosCom
Fork of wheelchaircontrolrealtime by
main.cpp@9:1081ebfe3db0, 2018-11-02 (annotated)
- Committer:
- jvfausto
- Date:
- Fri Nov 02 02:28:51 2018 +0000
- Revision:
- 9:1081ebfe3db0
- Parent:
- 8:db780b392bae
- Child:
- 10:beaa2ddfef32
1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryanlin97 | 0:7e6b349182bc | 1 | #include "wheelchair.h" |
ryanlin97 | 0:7e6b349182bc | 2 | |
jvfausto | 9:1081ebfe3db0 | 3 | QEI wheel(D0, D1, NC, 1200); //Initializes right encoder |
jvfausto | 9:1081ebfe3db0 | 4 | DigitalIn pt3(D1, PullUp); //Pull up resistors to read analog signals into digital signals |
jvfausto | 8:db780b392bae | 5 | DigitalIn pt4(D0, PullUp); |
jvfausto | 8:db780b392bae | 6 | |
jvfausto | 9:1081ebfe3db0 | 7 | QEI wheelS (D3, D6, NC, 1200); //Initializes Left encoder |
jvfausto | 9:1081ebfe3db0 | 8 | DigitalIn pt1(D3, PullUp); //Pull up resistors to read analog signals into digital signals |
jvfausto | 9:1081ebfe3db0 | 9 | DigitalIn pt2(D6, PullUp); |
jvfausto | 8:db780b392bae | 10 | |
jvfausto | 9:1081ebfe3db0 | 11 | AnalogIn x(A0); //Initializes analog axis for the joystick |
ryanlin97 | 0:7e6b349182bc | 12 | AnalogIn y(A1); |
ryanlin97 | 0:7e6b349182bc | 13 | |
jvfausto | 9:1081ebfe3db0 | 14 | DigitalOut up(D2); //Turn up speed mode for joystick |
jvfausto | 9:1081ebfe3db0 | 15 | DigitalOut down(D8); //Turn down speed mode for joystick |
jvfausto | 9:1081ebfe3db0 | 16 | DigitalOut on(D12); //Turn Wheelchair On |
jvfausto | 9:1081ebfe3db0 | 17 | DigitalOut off(D11); //Turn Wheelchair Off |
jvfausto | 9:1081ebfe3db0 | 18 | bool manual = false; //Turns chair joystic to automatic and viceverza |
ryanlin97 | 0:7e6b349182bc | 19 | |
jvfausto | 9:1081ebfe3db0 | 20 | Serial pc(USBTX, USBRX, 57600); //Serial Monitor |
jvfausto | 9:1081ebfe3db0 | 21 | |
jvfausto | 9:1081ebfe3db0 | 22 | Timer t; //Initialize time object t |
jvfausto | 9:1081ebfe3db0 | 23 | EventQueue queue; //Class to organize threads |
ryanlin97 | 5:90bf5f0d86e9 | 24 | |
jvfausto | 9:1081ebfe3db0 | 25 | ros::NodeHandle nh; |
jvfausto | 9:1081ebfe3db0 | 26 | nav_msgs::Odometry odom; |
jvfausto | 9:1081ebfe3db0 | 27 | ros::Publisher chatter("odom", &odom); |
ryanlin97 | 0:7e6b349182bc | 28 | |
jvfausto | 9:1081ebfe3db0 | 29 | /*void setOdomNode(){ |
jvfausto | 9:1081ebfe3db0 | 30 | nh.initNode(); |
jvfausto | 9:1081ebfe3db0 | 31 | nh.advertise(chatter); |
jvfausto | 9:1081ebfe3db0 | 32 | }*/ |
ryanlin97 | 0:7e6b349182bc | 33 | |
jvfausto | 9:1081ebfe3db0 | 34 | Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS); //Initialize wheelchair object |
jvfausto | 9:1081ebfe3db0 | 35 | Thread compass; //Thread for compass |
jvfausto | 9:1081ebfe3db0 | 36 | Thread velosity; //Thread for velosity |
jvfausto | 9:1081ebfe3db0 | 37 | Thread ros_com; //Thread for velosity |
ryanlin97 | 5:90bf5f0d86e9 | 38 | |
ryanlin97 | 0:7e6b349182bc | 39 | int main(void) |
jvfausto | 9:1081ebfe3db0 | 40 | { |
jvfausto | 9:1081ebfe3db0 | 41 | nh.initNode(); |
jvfausto | 9:1081ebfe3db0 | 42 | nh.advertise(chatter); |
jvfausto | 9:1081ebfe3db0 | 43 | |
jvfausto | 9:1081ebfe3db0 | 44 | queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); //Sets up sampling frequency of the compass_thread |
jvfausto | 9:1081ebfe3db0 | 45 | queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velosity_thread); //Sets up sampling frequency of the velosity_thread |
jvfausto | 9:1081ebfe3db0 | 46 | queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::rosCom_thread); //Sets up sampling frequency of the velosity_thread |
ryanlin97 | 0:7e6b349182bc | 47 | t.reset(); |
jvfausto | 9:1081ebfe3db0 | 48 | compass.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the compass thread |
jvfausto | 9:1081ebfe3db0 | 49 | velosity.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread |
jvfausto | 9:1081ebfe3db0 | 50 | ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread |
ryanlin97 | 0:7e6b349182bc | 51 | while(1) { |
ryanlin97 | 0:7e6b349182bc | 52 | if( pc.readable()) { |
jvfausto | 9:1081ebfe3db0 | 53 | char c = pc.getc(); //Read the instruction sent |
ryanlin97 | 0:7e6b349182bc | 54 | if( c == 'w') { |
jvfausto | 9:1081ebfe3db0 | 55 | smart.forward(); //Move foward |
ryanlin97 | 0:7e6b349182bc | 56 | } |
ryanlin97 | 0:7e6b349182bc | 57 | else if( c == 'a') { |
jvfausto | 9:1081ebfe3db0 | 58 | smart.left(); //Turn left |
ryanlin97 | 0:7e6b349182bc | 59 | } |
ryanlin97 | 0:7e6b349182bc | 60 | else if( c == 'd') { |
jvfausto | 9:1081ebfe3db0 | 61 | smart.right(); //Turn right |
ryanlin97 | 0:7e6b349182bc | 62 | } |
ryanlin97 | 0:7e6b349182bc | 63 | else if( c == 's') { |
jvfausto | 9:1081ebfe3db0 | 64 | smart.backward(); //Turn rackwards |
ryanlin97 | 0:7e6b349182bc | 65 | } |
jvfausto | 9:1081ebfe3db0 | 66 | |
jvfausto | 9:1081ebfe3db0 | 67 | else if( c == 't') { |
jvfausto | 9:1081ebfe3db0 | 68 | smart.pid_twistA(); |
jvfausto | 9:1081ebfe3db0 | 69 | /* |
jvfausto | 9:1081ebfe3db0 | 70 | char buffer[256]; //Buffer for Angle to turn |
jvfausto | 9:1081ebfe3db0 | 71 | pc.printf ("Enter a long number: "); |
jvfausto | 8:db780b392bae | 72 | int angle = 0; |
jvfausto | 9:1081ebfe3db0 | 73 | |
jvfausto | 9:1081ebfe3db0 | 74 | //if you can not send a string |
jvfausto | 9:1081ebfe3db0 | 75 | char d = pc.getc(); //Reads wether to turn right or left |
jvfausto | 8:db780b392bae | 76 | if(d == 'r') |
jvfausto | 8:db780b392bae | 77 | { |
jvfausto | 9:1081ebfe3db0 | 78 | angle = 90; |
jvfausto | 8:db780b392bae | 79 | } |
jvfausto | 8:db780b392bae | 80 | if(d == 'l') |
jvfausto | 8:db780b392bae | 81 | { |
jvfausto | 9:1081ebfe3db0 | 82 | angle = -90; |
jvfausto | 8:db780b392bae | 83 | } |
jvfausto | 9:1081ebfe3db0 | 84 | |
jvfausto | 9:1081ebfe3db0 | 85 | //if you can send a string |
jvfausto | 9:1081ebfe3db0 | 86 | /* |
jvfausto | 9:1081ebfe3db0 | 87 | fgets (buffer, 256, stdin); //Reads string and puts it in a buffer |
jvfausto | 9:1081ebfe3db0 | 88 | angle = atoi(buffer); //Converst string into integer |
jvfausto | 9:1081ebfe3db0 | 89 | */ |
jvfausto | 9:1081ebfe3db0 | 90 | /* |
ryanlin97 | 0:7e6b349182bc | 91 | if(angle == 0) { |
jvfausto | 9:1081ebfe3db0 | 92 | pc.printf("invalid input try again\r\n"); |
ryanlin97 | 0:7e6b349182bc | 93 | } else { |
jvfausto | 9:1081ebfe3db0 | 94 | smart.pid_turn(angle); //Sends instruction to turn desired angle |
jvfausto | 9:1081ebfe3db0 | 95 | }*/ |
jvfausto | 9:1081ebfe3db0 | 96 | } else if(c == 'v'){ |
jvfausto | 9:1081ebfe3db0 | 97 | smart.showOdom(); |
jvfausto | 9:1081ebfe3db0 | 98 | } else if(c == 'o') { //Turns on chair |
jvfausto | 7:04f93e6b929f | 99 | pc.printf("turning on\r\n"); |
ryanlin97 | 6:e9b1684a9c00 | 100 | on = 1; |
ryanlin97 | 6:e9b1684a9c00 | 101 | wait(1); |
ryanlin97 | 6:e9b1684a9c00 | 102 | on = 0; |
jvfausto | 9:1081ebfe3db0 | 103 | } else if(c == 'f') { //Turns off chair |
jvfausto | 7:04f93e6b929f | 104 | pc.printf("turning off\r\n"); |
ryanlin97 | 6:e9b1684a9c00 | 105 | off = 1; |
ryanlin97 | 6:e9b1684a9c00 | 106 | wait(1); |
ryanlin97 | 6:e9b1684a9c00 | 107 | off = 0; |
jvfausto | 9:1081ebfe3db0 | 108 | |
jvfausto | 9:1081ebfe3db0 | 109 | } else if(c == 'k'){ //Sends command to go to the kitchen |
jvfausto | 9:1081ebfe3db0 | 110 | smart.pid_twistV(); |
jvfausto | 9:1081ebfe3db0 | 111 | } else if( c == 'm' || manual) { //Turns wheelchair to joystick |
jvfausto | 7:04f93e6b929f | 112 | pc.printf("turning on joystick\r\n"); |
ryanlin97 | 0:7e6b349182bc | 113 | manual = true; |
ryanlin97 | 0:7e6b349182bc | 114 | t.reset(); |
ryanlin97 | 0:7e6b349182bc | 115 | while(manual) { |
jvfausto | 9:1081ebfe3db0 | 116 | smart.move(x,y); //Reads from joystick and moves |
ryanlin97 | 0:7e6b349182bc | 117 | if( pc.readable()) { |
ryanlin97 | 0:7e6b349182bc | 118 | char d = pc.getc(); |
jvfausto | 9:1081ebfe3db0 | 119 | if( d == 'm') { //Turns wheelchair from joystick into auto |
jvfausto | 7:04f93e6b929f | 120 | pc.printf("turning off joystick\r\n"); |
ryanlin97 | 0:7e6b349182bc | 121 | manual = false; |
ryanlin97 | 0:7e6b349182bc | 122 | } |
ryanlin97 | 0:7e6b349182bc | 123 | } |
jvfausto | 7:04f93e6b929f | 124 | } |
jvfausto | 9:1081ebfe3db0 | 125 | } else { |
jvfausto | 9:1081ebfe3db0 | 126 | pc.printf("none \r\n"); |
jvfausto | 9:1081ebfe3db0 | 127 | smart.stop(); //If nothing else is happening stop the chair |
ryanlin97 | 0:7e6b349182bc | 128 | } |
ryanlin97 | 0:7e6b349182bc | 129 | } |
ryanlin97 | 0:7e6b349182bc | 130 | else { |
jvfausto | 9:1081ebfe3db0 | 131 | smart.stop(); //If nothing else is happening stop the chair |
ryanlin97 | 0:7e6b349182bc | 132 | } |
ryanlin97 | 0:7e6b349182bc | 133 | wait(process); |
ryanlin97 | 0:7e6b349182bc | 134 | } |
ryanlin97 | 0:7e6b349182bc | 135 | } |