with pid foward right left foward
Dependencies: wheelchaircontrolRosCom
Fork of wheelchaircontrolrealtime by
main.cpp@0:7e6b349182bc, 2018-08-09 (annotated)
- Committer:
- ryanlin97
- Date:
- Thu Aug 09 16:37:08 2018 +0000
- Revision:
- 0:7e6b349182bc
- Child:
- 3:ef063fd4234e
- Child:
- 5:90bf5f0d86e9
incorporated encoder and pid. pid needs fixing
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 | |
ryanlin97 | 0:7e6b349182bc | 3 | AnalogIn x(A0); |
ryanlin97 | 0:7e6b349182bc | 4 | AnalogIn y(A1); |
ryanlin97 | 0:7e6b349182bc | 5 | |
ryanlin97 | 0:7e6b349182bc | 6 | DigitalOut off(D0); |
ryanlin97 | 0:7e6b349182bc | 7 | DigitalOut on(D1); |
ryanlin97 | 0:7e6b349182bc | 8 | DigitalOut up(D2); |
ryanlin97 | 0:7e6b349182bc | 9 | DigitalOut down(D3); |
ryanlin97 | 0:7e6b349182bc | 10 | |
ryanlin97 | 0:7e6b349182bc | 11 | bool manual = false; |
ryanlin97 | 0:7e6b349182bc | 12 | |
ryanlin97 | 0:7e6b349182bc | 13 | Serial pc(USBTX, USBRX, 57600); |
ryanlin97 | 0:7e6b349182bc | 14 | Timer t; |
ryanlin97 | 0:7e6b349182bc | 15 | EventQueue queue; |
ryanlin97 | 0:7e6b349182bc | 16 | |
ryanlin97 | 0:7e6b349182bc | 17 | //MPU9250 imu(D14, D15); |
ryanlin97 | 0:7e6b349182bc | 18 | Wheelchair smart(xDir,yDir, &pc, &t); |
ryanlin97 | 0:7e6b349182bc | 19 | Thread thread; |
ryanlin97 | 0:7e6b349182bc | 20 | |
ryanlin97 | 0:7e6b349182bc | 21 | int main(void) |
ryanlin97 | 0:7e6b349182bc | 22 | { |
ryanlin97 | 0:7e6b349182bc | 23 | queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); |
ryanlin97 | 0:7e6b349182bc | 24 | t.reset(); |
ryanlin97 | 0:7e6b349182bc | 25 | thread.start(callback(&queue, &EventQueue::dispatch_forever)); |
ryanlin97 | 0:7e6b349182bc | 26 | while(1) { |
ryanlin97 | 0:7e6b349182bc | 27 | if( pc.readable()) { |
ryanlin97 | 0:7e6b349182bc | 28 | char c = pc.getc(); |
ryanlin97 | 0:7e6b349182bc | 29 | |
ryanlin97 | 0:7e6b349182bc | 30 | if( c == 'w') { |
ryanlin97 | 0:7e6b349182bc | 31 | pc.printf("up \n"); |
ryanlin97 | 0:7e6b349182bc | 32 | smart.forward(); |
ryanlin97 | 0:7e6b349182bc | 33 | } |
ryanlin97 | 0:7e6b349182bc | 34 | |
ryanlin97 | 0:7e6b349182bc | 35 | else if( c == 'a') { |
ryanlin97 | 0:7e6b349182bc | 36 | //pc.printf("left \n"); |
ryanlin97 | 0:7e6b349182bc | 37 | smart.left(); |
ryanlin97 | 0:7e6b349182bc | 38 | } |
ryanlin97 | 0:7e6b349182bc | 39 | |
ryanlin97 | 0:7e6b349182bc | 40 | else if( c == 'd') { |
ryanlin97 | 0:7e6b349182bc | 41 | //pc.printf("right \n"); |
ryanlin97 | 0:7e6b349182bc | 42 | smart.right(); |
ryanlin97 | 0:7e6b349182bc | 43 | } |
ryanlin97 | 0:7e6b349182bc | 44 | |
ryanlin97 | 0:7e6b349182bc | 45 | else if( c == 's') { |
ryanlin97 | 0:7e6b349182bc | 46 | pc.printf("down \n"); |
ryanlin97 | 0:7e6b349182bc | 47 | smart.backward(); |
ryanlin97 | 0:7e6b349182bc | 48 | } |
ryanlin97 | 0:7e6b349182bc | 49 | |
ryanlin97 | 0:7e6b349182bc | 50 | else if( c == 'r') { |
ryanlin97 | 0:7e6b349182bc | 51 | smart.turn_right(90); |
ryanlin97 | 0:7e6b349182bc | 52 | } |
ryanlin97 | 0:7e6b349182bc | 53 | |
ryanlin97 | 0:7e6b349182bc | 54 | else if( c == 'l') { |
ryanlin97 | 0:7e6b349182bc | 55 | smart.turn_left(90); |
ryanlin97 | 0:7e6b349182bc | 56 | } |
ryanlin97 | 0:7e6b349182bc | 57 | |
ryanlin97 | 0:7e6b349182bc | 58 | else if( c == 't') { |
ryanlin97 | 0:7e6b349182bc | 59 | char buffer[256]; |
ryanlin97 | 0:7e6b349182bc | 60 | pc.printf ("Enter a long number: "); |
ryanlin97 | 0:7e6b349182bc | 61 | fgets (buffer, 256, stdin); |
ryanlin97 | 0:7e6b349182bc | 62 | int angle = atoi (buffer); |
ryanlin97 | 0:7e6b349182bc | 63 | |
ryanlin97 | 0:7e6b349182bc | 64 | if(angle == 0) { |
ryanlin97 | 0:7e6b349182bc | 65 | pc.printf("invalid input try again\n"); |
ryanlin97 | 0:7e6b349182bc | 66 | } else { |
ryanlin97 | 0:7e6b349182bc | 67 | smart.pid_turn(angle); |
ryanlin97 | 0:7e6b349182bc | 68 | } |
ryanlin97 | 0:7e6b349182bc | 69 | |
ryanlin97 | 0:7e6b349182bc | 70 | } |
ryanlin97 | 0:7e6b349182bc | 71 | |
ryanlin97 | 0:7e6b349182bc | 72 | else if( c == 'm' || manual) { |
ryanlin97 | 0:7e6b349182bc | 73 | pc.printf("turning on joystick\n"); |
ryanlin97 | 0:7e6b349182bc | 74 | manual = true; |
ryanlin97 | 0:7e6b349182bc | 75 | t.reset(); |
ryanlin97 | 0:7e6b349182bc | 76 | while(manual) { |
ryanlin97 | 0:7e6b349182bc | 77 | smart.move(x,y); |
ryanlin97 | 0:7e6b349182bc | 78 | if( pc.readable()) { |
ryanlin97 | 0:7e6b349182bc | 79 | char d = pc.getc(); |
ryanlin97 | 0:7e6b349182bc | 80 | if( d == 'm') { |
ryanlin97 | 0:7e6b349182bc | 81 | pc.printf("turning off joystick\n"); |
ryanlin97 | 0:7e6b349182bc | 82 | manual = false; |
ryanlin97 | 0:7e6b349182bc | 83 | } |
ryanlin97 | 0:7e6b349182bc | 84 | } |
ryanlin97 | 0:7e6b349182bc | 85 | } |
ryanlin97 | 0:7e6b349182bc | 86 | } |
ryanlin97 | 0:7e6b349182bc | 87 | |
ryanlin97 | 0:7e6b349182bc | 88 | else { |
ryanlin97 | 0:7e6b349182bc | 89 | pc.printf("none \n"); |
ryanlin97 | 0:7e6b349182bc | 90 | smart.stop(); |
ryanlin97 | 0:7e6b349182bc | 91 | } |
ryanlin97 | 0:7e6b349182bc | 92 | } |
ryanlin97 | 0:7e6b349182bc | 93 | |
ryanlin97 | 0:7e6b349182bc | 94 | else { |
ryanlin97 | 0:7e6b349182bc | 95 | // pc.printf("Nothing pressed \n"); |
ryanlin97 | 0:7e6b349182bc | 96 | smart.stop(); |
ryanlin97 | 0:7e6b349182bc | 97 | } |
ryanlin97 | 0:7e6b349182bc | 98 | wait(process); |
ryanlin97 | 0:7e6b349182bc | 99 | } |
ryanlin97 | 0:7e6b349182bc | 100 | |
ryanlin97 | 0:7e6b349182bc | 101 | } |
ryanlin97 | 0:7e6b349182bc | 102 |