with pid foward right left foward
Dependencies: wheelchaircontrolRosCom
Fork of wheelchaircontrolrealtime by
main.cpp@6:e9b1684a9c00, 2018-08-15 (annotated)
- Committer:
- ryanlin97
- Date:
- Wed Aug 15 17:13:55 2018 +0000
- Revision:
- 6:e9b1684a9c00
- Parent:
- 5:90bf5f0d86e9
- Child:
- 7:04f93e6b929f
added on and off
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 up(D2); |
ryanlin97 | 0:7e6b349182bc | 7 | DigitalOut down(D3); |
ryanlin97 | 6:e9b1684a9c00 | 8 | DigitalOut on(D12); |
ryanlin97 | 6:e9b1684a9c00 | 9 | DigitalOut off(D11); |
ryanlin97 | 6:e9b1684a9c00 | 10 | |
ryanlin97 | 0:7e6b349182bc | 11 | bool manual = false; |
ryanlin97 | 0:7e6b349182bc | 12 | |
ryanlin97 | 0:7e6b349182bc | 13 | Serial pc(USBTX, USBRX, 57600); |
ryanlin97 | 5:90bf5f0d86e9 | 14 | |
ryanlin97 | 0:7e6b349182bc | 15 | Timer t; |
ryanlin97 | 0:7e6b349182bc | 16 | EventQueue queue; |
ryanlin97 | 0:7e6b349182bc | 17 | |
ryanlin97 | 0:7e6b349182bc | 18 | //MPU9250 imu(D14, D15); |
ryanlin97 | 0:7e6b349182bc | 19 | Wheelchair smart(xDir,yDir, &pc, &t); |
ryanlin97 | 0:7e6b349182bc | 20 | Thread thread; |
ryanlin97 | 0:7e6b349182bc | 21 | |
ryanlin97 | 5:90bf5f0d86e9 | 22 | |
ryanlin97 | 0:7e6b349182bc | 23 | int main(void) |
ryanlin97 | 0:7e6b349182bc | 24 | { |
ryanlin97 | 0:7e6b349182bc | 25 | queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); |
ryanlin97 | 0:7e6b349182bc | 26 | t.reset(); |
ryanlin97 | 0:7e6b349182bc | 27 | thread.start(callback(&queue, &EventQueue::dispatch_forever)); |
ryanlin97 | 0:7e6b349182bc | 28 | while(1) { |
ryanlin97 | 0:7e6b349182bc | 29 | if( pc.readable()) { |
ryanlin97 | 0:7e6b349182bc | 30 | char c = pc.getc(); |
ryanlin97 | 0:7e6b349182bc | 31 | |
ryanlin97 | 0:7e6b349182bc | 32 | if( c == 'w') { |
ryanlin97 | 0:7e6b349182bc | 33 | pc.printf("up \n"); |
ryanlin97 | 0:7e6b349182bc | 34 | smart.forward(); |
ryanlin97 | 0:7e6b349182bc | 35 | } |
ryanlin97 | 0:7e6b349182bc | 36 | |
ryanlin97 | 0:7e6b349182bc | 37 | else if( c == 'a') { |
ryanlin97 | 0:7e6b349182bc | 38 | //pc.printf("left \n"); |
ryanlin97 | 0:7e6b349182bc | 39 | smart.left(); |
ryanlin97 | 0:7e6b349182bc | 40 | } |
ryanlin97 | 0:7e6b349182bc | 41 | |
ryanlin97 | 0:7e6b349182bc | 42 | else if( c == 'd') { |
ryanlin97 | 0:7e6b349182bc | 43 | //pc.printf("right \n"); |
ryanlin97 | 0:7e6b349182bc | 44 | smart.right(); |
ryanlin97 | 0:7e6b349182bc | 45 | } |
ryanlin97 | 0:7e6b349182bc | 46 | |
ryanlin97 | 0:7e6b349182bc | 47 | else if( c == 's') { |
ryanlin97 | 0:7e6b349182bc | 48 | pc.printf("down \n"); |
ryanlin97 | 0:7e6b349182bc | 49 | smart.backward(); |
ryanlin97 | 0:7e6b349182bc | 50 | } |
ryanlin97 | 0:7e6b349182bc | 51 | |
ryanlin97 | 0:7e6b349182bc | 52 | else if( c == 'r') { |
ryanlin97 | 0:7e6b349182bc | 53 | smart.turn_right(90); |
ryanlin97 | 0:7e6b349182bc | 54 | } |
ryanlin97 | 0:7e6b349182bc | 55 | |
ryanlin97 | 0:7e6b349182bc | 56 | else if( c == 'l') { |
ryanlin97 | 0:7e6b349182bc | 57 | smart.turn_left(90); |
ryanlin97 | 0:7e6b349182bc | 58 | } |
ryanlin97 | 0:7e6b349182bc | 59 | |
ryanlin97 | 0:7e6b349182bc | 60 | else if( c == 't') { |
ryanlin97 | 0:7e6b349182bc | 61 | char buffer[256]; |
ryanlin97 | 0:7e6b349182bc | 62 | pc.printf ("Enter a long number: "); |
ryanlin97 | 0:7e6b349182bc | 63 | fgets (buffer, 256, stdin); |
ryanlin97 | 0:7e6b349182bc | 64 | int angle = atoi (buffer); |
ryanlin97 | 0:7e6b349182bc | 65 | |
ryanlin97 | 0:7e6b349182bc | 66 | if(angle == 0) { |
ryanlin97 | 0:7e6b349182bc | 67 | pc.printf("invalid input try again\n"); |
ryanlin97 | 0:7e6b349182bc | 68 | } else { |
ryanlin97 | 0:7e6b349182bc | 69 | smart.pid_turn(angle); |
ryanlin97 | 0:7e6b349182bc | 70 | } |
ryanlin97 | 0:7e6b349182bc | 71 | |
ryanlin97 | 6:e9b1684a9c00 | 72 | } else if(c == 'o') { |
ryanlin97 | 6:e9b1684a9c00 | 73 | pc.printf("turning on\n"); |
ryanlin97 | 6:e9b1684a9c00 | 74 | on = 1; |
ryanlin97 | 6:e9b1684a9c00 | 75 | wait(1); |
ryanlin97 | 6:e9b1684a9c00 | 76 | on = 0; |
ryanlin97 | 6:e9b1684a9c00 | 77 | } else if(c == 'f') { |
ryanlin97 | 6:e9b1684a9c00 | 78 | pc.printf("turning off\n"); |
ryanlin97 | 6:e9b1684a9c00 | 79 | off = 1; |
ryanlin97 | 6:e9b1684a9c00 | 80 | wait(1); |
ryanlin97 | 6:e9b1684a9c00 | 81 | off = 0; |
ryanlin97 | 6:e9b1684a9c00 | 82 | } else if( c == 'm' || manual) { |
ryanlin97 | 0:7e6b349182bc | 83 | pc.printf("turning on joystick\n"); |
ryanlin97 | 0:7e6b349182bc | 84 | manual = true; |
ryanlin97 | 0:7e6b349182bc | 85 | t.reset(); |
ryanlin97 | 0:7e6b349182bc | 86 | while(manual) { |
ryanlin97 | 0:7e6b349182bc | 87 | smart.move(x,y); |
ryanlin97 | 0:7e6b349182bc | 88 | if( pc.readable()) { |
ryanlin97 | 0:7e6b349182bc | 89 | char d = pc.getc(); |
ryanlin97 | 0:7e6b349182bc | 90 | if( d == 'm') { |
ryanlin97 | 0:7e6b349182bc | 91 | pc.printf("turning off joystick\n"); |
ryanlin97 | 0:7e6b349182bc | 92 | manual = false; |
ryanlin97 | 0:7e6b349182bc | 93 | } |
ryanlin97 | 0:7e6b349182bc | 94 | } |
ryanlin97 | 0:7e6b349182bc | 95 | } |
ryanlin97 | 0:7e6b349182bc | 96 | } |
ryanlin97 | 0:7e6b349182bc | 97 | |
ryanlin97 | 0:7e6b349182bc | 98 | else { |
ryanlin97 | 0:7e6b349182bc | 99 | pc.printf("none \n"); |
ryanlin97 | 0:7e6b349182bc | 100 | smart.stop(); |
ryanlin97 | 0:7e6b349182bc | 101 | } |
ryanlin97 | 0:7e6b349182bc | 102 | } |
ryanlin97 | 0:7e6b349182bc | 103 | |
ryanlin97 | 0:7e6b349182bc | 104 | else { |
ryanlin97 | 0:7e6b349182bc | 105 | // pc.printf("Nothing pressed \n"); |
ryanlin97 | 0:7e6b349182bc | 106 | smart.stop(); |
ryanlin97 | 0:7e6b349182bc | 107 | } |
ryanlin97 | 0:7e6b349182bc | 108 | wait(process); |
ryanlin97 | 0:7e6b349182bc | 109 | } |
ryanlin97 | 0:7e6b349182bc | 110 | |
ryanlin97 | 0:7e6b349182bc | 111 | } |
ryanlin97 | 0:7e6b349182bc | 112 | |
ryanlin97 | 5:90bf5f0d86e9 | 113 | |
ryanlin97 | 5:90bf5f0d86e9 | 114 | |
ryanlin97 | 5:90bf5f0d86e9 | 115 | |
ryanlin97 | 5:90bf5f0d86e9 | 116 |