with pid foward right left foward
Dependencies: wheelchaircontrolRosCom
Fork of wheelchaircontrolrealtime by
main.cpp@10:beaa2ddfef32, 2018-11-03 (annotated)
- Committer:
- jvfausto
- Date:
- Sat Nov 03 20:36:36 2018 +0000
- Revision:
- 10:beaa2ddfef32
- Parent:
- 9:1081ebfe3db0
Now with twist and Odom messages
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 | 10:beaa2ddfef32 | 27 | geometry_msgs::Twist commandRead; |
ryanlin97 | 0:7e6b349182bc | 28 | |
jvfausto | 10:beaa2ddfef32 | 29 | void handlerFunction(const geometry_msgs::Twist& command){ |
jvfausto | 10:beaa2ddfef32 | 30 | commandRead = command; |
jvfausto | 10:beaa2ddfef32 | 31 | } |
jvfausto | 10:beaa2ddfef32 | 32 | |
jvfausto | 10:beaa2ddfef32 | 33 | ros::Subscriber<geometry_msgs::Twist> sub("cmd_vel", &handlerFunction); |
jvfausto | 10:beaa2ddfef32 | 34 | ros::Publisher chatter("odom", &odom); |
jvfausto | 10:beaa2ddfef32 | 35 | ros::Publisher chatter2("cmd_vel", &commandRead); |
ryanlin97 | 0:7e6b349182bc | 36 | |
jvfausto | 9:1081ebfe3db0 | 37 | Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS); //Initialize wheelchair object |
jvfausto | 9:1081ebfe3db0 | 38 | Thread compass; //Thread for compass |
jvfausto | 9:1081ebfe3db0 | 39 | Thread velosity; //Thread for velosity |
jvfausto | 9:1081ebfe3db0 | 40 | Thread ros_com; //Thread for velosity |
ryanlin97 | 5:90bf5f0d86e9 | 41 | |
jvfausto | 10:beaa2ddfef32 | 42 | void rosCom_thread() |
jvfausto | 10:beaa2ddfef32 | 43 | { |
jvfausto | 10:beaa2ddfef32 | 44 | odom.pose.pose.position.x = smart.x_position; |
jvfausto | 10:beaa2ddfef32 | 45 | odom.pose.pose.position.y = smart.y_position; |
jvfausto | 10:beaa2ddfef32 | 46 | odom.pose.pose.position.z = 0; |
jvfausto | 10:beaa2ddfef32 | 47 | //set the orientation |
jvfausto | 10:beaa2ddfef32 | 48 | odom.pose.pose.orientation.z = smart.z_angular; |
jvfausto | 10:beaa2ddfef32 | 49 | odom.pose.pose.orientation.x = 0; |
jvfausto | 10:beaa2ddfef32 | 50 | odom.pose.pose.orientation.y = 0; |
jvfausto | 10:beaa2ddfef32 | 51 | odom.twist.twist.linear.x = smart.curr_vel; |
jvfausto | 10:beaa2ddfef32 | 52 | odom.twist.twist.linear.y = 0; |
jvfausto | 10:beaa2ddfef32 | 53 | odom.twist.twist.linear.z = 0; |
jvfausto | 10:beaa2ddfef32 | 54 | odom.twist.twist.angular.x = 0; |
jvfausto | 10:beaa2ddfef32 | 55 | odom.twist.twist.angular.y = 0; |
jvfausto | 10:beaa2ddfef32 | 56 | odom.twist.twist.angular.z = smart.getTwistZ(); |
jvfausto | 10:beaa2ddfef32 | 57 | chatter.publish(&odom); |
jvfausto | 10:beaa2ddfef32 | 58 | chatter2.publish(&commandRead); |
jvfausto | 10:beaa2ddfef32 | 59 | nh.spinOnce(); |
jvfausto | 10:beaa2ddfef32 | 60 | } |
ryanlin97 | 0:7e6b349182bc | 61 | int main(void) |
jvfausto | 9:1081ebfe3db0 | 62 | { |
jvfausto | 9:1081ebfe3db0 | 63 | nh.initNode(); |
jvfausto | 9:1081ebfe3db0 | 64 | nh.advertise(chatter); |
jvfausto | 10:beaa2ddfef32 | 65 | nh.advertise(chatter2); |
jvfausto | 10:beaa2ddfef32 | 66 | nh.subscribe(sub); |
jvfausto | 9:1081ebfe3db0 | 67 | |
jvfausto | 9:1081ebfe3db0 | 68 | queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); //Sets up sampling frequency of the compass_thread |
jvfausto | 9:1081ebfe3db0 | 69 | queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velosity_thread); //Sets up sampling frequency of the velosity_thread |
jvfausto | 10:beaa2ddfef32 | 70 | queue.call_every(200, rosCom_thread); //Sets up sampling frequency of the velosity_thread |
ryanlin97 | 0:7e6b349182bc | 71 | t.reset(); |
jvfausto | 9:1081ebfe3db0 | 72 | compass.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the compass thread |
jvfausto | 9:1081ebfe3db0 | 73 | velosity.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread |
jvfausto | 9:1081ebfe3db0 | 74 | ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread |
ryanlin97 | 0:7e6b349182bc | 75 | while(1) { |
ryanlin97 | 0:7e6b349182bc | 76 | if( pc.readable()) { |
jvfausto | 9:1081ebfe3db0 | 77 | char c = pc.getc(); //Read the instruction sent |
ryanlin97 | 0:7e6b349182bc | 78 | if( c == 'w') { |
jvfausto | 9:1081ebfe3db0 | 79 | smart.forward(); //Move foward |
ryanlin97 | 0:7e6b349182bc | 80 | } |
ryanlin97 | 0:7e6b349182bc | 81 | else if( c == 'a') { |
jvfausto | 9:1081ebfe3db0 | 82 | smart.left(); //Turn left |
ryanlin97 | 0:7e6b349182bc | 83 | } |
ryanlin97 | 0:7e6b349182bc | 84 | else if( c == 'd') { |
jvfausto | 9:1081ebfe3db0 | 85 | smart.right(); //Turn right |
ryanlin97 | 0:7e6b349182bc | 86 | } |
ryanlin97 | 0:7e6b349182bc | 87 | else if( c == 's') { |
jvfausto | 9:1081ebfe3db0 | 88 | smart.backward(); //Turn rackwards |
ryanlin97 | 0:7e6b349182bc | 89 | } |
jvfausto | 9:1081ebfe3db0 | 90 | |
jvfausto | 9:1081ebfe3db0 | 91 | else if( c == 't') { |
jvfausto | 9:1081ebfe3db0 | 92 | smart.pid_twistA(); |
jvfausto | 9:1081ebfe3db0 | 93 | /* |
jvfausto | 9:1081ebfe3db0 | 94 | char buffer[256]; //Buffer for Angle to turn |
jvfausto | 9:1081ebfe3db0 | 95 | pc.printf ("Enter a long number: "); |
jvfausto | 8:db780b392bae | 96 | int angle = 0; |
jvfausto | 9:1081ebfe3db0 | 97 | |
jvfausto | 9:1081ebfe3db0 | 98 | //if you can not send a string |
jvfausto | 9:1081ebfe3db0 | 99 | char d = pc.getc(); //Reads wether to turn right or left |
jvfausto | 8:db780b392bae | 100 | if(d == 'r') |
jvfausto | 8:db780b392bae | 101 | { |
jvfausto | 9:1081ebfe3db0 | 102 | angle = 90; |
jvfausto | 8:db780b392bae | 103 | } |
jvfausto | 8:db780b392bae | 104 | if(d == 'l') |
jvfausto | 8:db780b392bae | 105 | { |
jvfausto | 9:1081ebfe3db0 | 106 | angle = -90; |
jvfausto | 8:db780b392bae | 107 | } |
jvfausto | 9:1081ebfe3db0 | 108 | |
jvfausto | 9:1081ebfe3db0 | 109 | //if you can send a string |
jvfausto | 9:1081ebfe3db0 | 110 | /* |
jvfausto | 9:1081ebfe3db0 | 111 | fgets (buffer, 256, stdin); //Reads string and puts it in a buffer |
jvfausto | 9:1081ebfe3db0 | 112 | angle = atoi(buffer); //Converst string into integer |
jvfausto | 9:1081ebfe3db0 | 113 | */ |
jvfausto | 9:1081ebfe3db0 | 114 | /* |
ryanlin97 | 0:7e6b349182bc | 115 | if(angle == 0) { |
jvfausto | 9:1081ebfe3db0 | 116 | pc.printf("invalid input try again\r\n"); |
ryanlin97 | 0:7e6b349182bc | 117 | } else { |
jvfausto | 9:1081ebfe3db0 | 118 | smart.pid_turn(angle); //Sends instruction to turn desired angle |
jvfausto | 9:1081ebfe3db0 | 119 | }*/ |
jvfausto | 9:1081ebfe3db0 | 120 | } else if(c == 'v'){ |
jvfausto | 9:1081ebfe3db0 | 121 | smart.showOdom(); |
jvfausto | 9:1081ebfe3db0 | 122 | } else if(c == 'o') { //Turns on chair |
jvfausto | 7:04f93e6b929f | 123 | pc.printf("turning on\r\n"); |
ryanlin97 | 6:e9b1684a9c00 | 124 | on = 1; |
ryanlin97 | 6:e9b1684a9c00 | 125 | wait(1); |
ryanlin97 | 6:e9b1684a9c00 | 126 | on = 0; |
jvfausto | 9:1081ebfe3db0 | 127 | } else if(c == 'f') { //Turns off chair |
jvfausto | 7:04f93e6b929f | 128 | pc.printf("turning off\r\n"); |
ryanlin97 | 6:e9b1684a9c00 | 129 | off = 1; |
ryanlin97 | 6:e9b1684a9c00 | 130 | wait(1); |
ryanlin97 | 6:e9b1684a9c00 | 131 | off = 0; |
jvfausto | 9:1081ebfe3db0 | 132 | |
jvfausto | 9:1081ebfe3db0 | 133 | } else if(c == 'k'){ //Sends command to go to the kitchen |
jvfausto | 9:1081ebfe3db0 | 134 | smart.pid_twistV(); |
jvfausto | 9:1081ebfe3db0 | 135 | } else if( c == 'm' || manual) { //Turns wheelchair to joystick |
jvfausto | 7:04f93e6b929f | 136 | pc.printf("turning on joystick\r\n"); |
ryanlin97 | 0:7e6b349182bc | 137 | manual = true; |
ryanlin97 | 0:7e6b349182bc | 138 | t.reset(); |
ryanlin97 | 0:7e6b349182bc | 139 | while(manual) { |
jvfausto | 9:1081ebfe3db0 | 140 | smart.move(x,y); //Reads from joystick and moves |
ryanlin97 | 0:7e6b349182bc | 141 | if( pc.readable()) { |
ryanlin97 | 0:7e6b349182bc | 142 | char d = pc.getc(); |
jvfausto | 9:1081ebfe3db0 | 143 | if( d == 'm') { //Turns wheelchair from joystick into auto |
jvfausto | 7:04f93e6b929f | 144 | pc.printf("turning off joystick\r\n"); |
ryanlin97 | 0:7e6b349182bc | 145 | manual = false; |
ryanlin97 | 0:7e6b349182bc | 146 | } |
ryanlin97 | 0:7e6b349182bc | 147 | } |
jvfausto | 7:04f93e6b929f | 148 | } |
jvfausto | 9:1081ebfe3db0 | 149 | } else { |
jvfausto | 9:1081ebfe3db0 | 150 | pc.printf("none \r\n"); |
jvfausto | 9:1081ebfe3db0 | 151 | smart.stop(); //If nothing else is happening stop the chair |
ryanlin97 | 0:7e6b349182bc | 152 | } |
ryanlin97 | 0:7e6b349182bc | 153 | } |
ryanlin97 | 0:7e6b349182bc | 154 | else { |
jvfausto | 9:1081ebfe3db0 | 155 | smart.stop(); //If nothing else is happening stop the chair |
ryanlin97 | 0:7e6b349182bc | 156 | } |
jvfausto | 10:beaa2ddfef32 | 157 | |
ryanlin97 | 0:7e6b349182bc | 158 | wait(process); |
ryanlin97 | 0:7e6b349182bc | 159 | } |
ryanlin97 | 0:7e6b349182bc | 160 | } |