Diff: main.cpp

Revision:

9:1081ebfe3db0

Parent:

8:db780b392bae

Child:

10:beaa2ddfef32

--- a/main.cpp	Fri Aug 31 20:01:55 2018 +0000
+++ b/main.cpp	Fri Nov 02 02:28:51 2018 +0000
@@ -1,160 +1,135 @@
 #include "wheelchair.h"
 
-QEI wheel(D0, D1, NC, 1200);
-DigitalIn pt3(D1, PullUp);
+QEI wheel(D0, D1, NC, 1200);        //Initializes right encoder
+DigitalIn pt3(D1, PullUp);          //Pull up resistors to read analog signals into digital signals
 DigitalIn pt4(D0, PullUp);
 
-/*QEI wheel2 (D3, D6, NC, 1200);
-DigitalIn pt1(D3, PullUp);
-DigitalIn pt2(D6, PullUp);*/
+QEI wheelS (D3, D6, NC, 1200);    //Initializes Left encoder
+DigitalIn pt1(D3, PullUp);          //Pull up resistors to read analog signals into digital signals
+DigitalIn pt2(D6, PullUp);
 
-AnalogIn x(A0);
+AnalogIn x(A0);                     //Initializes analog axis for the joystick
 AnalogIn y(A1);
 
-DigitalOut up(D2);
-DigitalOut down(D3);
-DigitalOut on(D12);
-DigitalOut off(D11);
-bool manual = false;
+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
+bool manual = false;                //Turns chair joystic to automatic and viceverza
 
-Serial pc(USBTX, USBRX, 57600);
+Serial pc(USBTX, USBRX, 57600);     //Serial Monitor
+
+Timer t;                            //Initialize time object t
+EventQueue queue;                   //Class to organize threads
 
-Timer t;
-EventQueue queue;
+ros::NodeHandle nh;
+nav_msgs::Odometry odom;
+ros::Publisher chatter("odom", &odom);
 
-//MPU9250 imu(D14, D15);
-Wheelchair smart(xDir,yDir, &pc, &t, &wheel);
-Thread thread;
+/*void setOdomNode(){
+    nh.initNode();
+    nh.advertise(chatter);
+}*/
 
+Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS); //Initialize wheelchair object
+Thread compass;                      //Thread for compass
+Thread velosity;                      //Thread for velosity
+Thread ros_com;                      //Thread for velosity
 
 int main(void)
-{
-    queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread);
+{   
+    nh.initNode();
+    nh.advertise(chatter);
+    
+    queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread);  //Sets up sampling frequency of the compass_thread
+    queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velosity_thread); //Sets up sampling frequency of the velosity_thread
+    queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::rosCom_thread); //Sets up sampling frequency of the velosity_thread
     t.reset();
-    thread.start(callback(&queue, &EventQueue::dispatch_forever));
+    compass.start(callback(&queue, &EventQueue::dispatch_forever));      //Starts running the compass thread
+    velosity.start(callback(&queue, &EventQueue::dispatch_forever));     //Starts running the velosity thread
+    ros_com.start(callback(&queue, &EventQueue::dispatch_forever));     //Starts running the velosity thread
     while(1) {
         if( pc.readable()) {
-            char c = pc.getc();
+            char c = pc.getc();                                         //Read the instruction sent
             if( c == 'w') {
-                //pc.printf("up \r\n");
-                smart.forward();
-                pc.printf("%f\r\n", wheel.getDistance(53.975));
+                smart.forward();                                        //Move foward
             }
             else if( c == 'a') {
-                //pc.printf("left \r\n");
-                smart.left();
+                smart.left();                                           //Turn left
             }
-
             else if( c == 'd') {
-                //pc.printf("right \r\n");
-                smart.right();
+                smart.right();                                          //Turn right
             }
-
             else if( c == 's') {
-                //pc.printf("down \r\n");
-                smart.backward();
-               // wheel.reset();
+                smart.backward();                                       //Turn rackwards
             }
-
-            else if( c == 'r') {
-                smart.turn_right(90);
-            }
- 
-            else if( c == 'l') {
-                smart.turn_left(90);
-            }
-
-            else if( c == 't') {
-
-                char buffer[256];
-                pc.printf ("Enter a long number: ");
-                char d = pc.getc();
+            
+            else if( c == 't') {                                        
+                smart.pid_twistA();
+                /*
+                char buffer[256];                                       //Buffer for Angle to turn                
+                pc.printf ("Enter a long number: ");  
                 int angle = 0;
-                //fgets (buffer, 256, stdin);
+      
+                //if you can not send a string        
+                char d = pc.getc();                                     //Reads wether to turn right or left
                 if(d == 'r')
                 {
-                     angle = 90;//atoi (buffer);
+                     angle = 90;
                 }                
                 if(d == 'l')
                 {
-                     angle = -90;//atoi (buffer);
+                     angle = -90;
                 }
+                
+                //if you can send a string
+                /*
+                fgets (buffer, 256, stdin);                             //Reads string and puts it in a buffer
+                angle = atoi(buffer);                                   //Converst string into integer
+                */
+                /*
                 if(angle == 0) {
-                    pc.printf("invalid input try again\r\n");
+                    pc.printf("invalid input try again\r\n");           
                 } else {
-                    smart.pid_turn(angle);
-                }
-
-            } else if(c == 'o') {
+                    smart.pid_turn(angle);                              //Sends instruction to turn desired angle
+                }*/
+            } 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') {
+            } else if(c == 'f') {                                       //Turns off chair
                 pc.printf("turning off\r\n");
                 off = 1;
                 wait(1);
                 off = 0;
-            } else if(c == 'k'){
-                pc.printf("kitchen\r\n");
-                smart.kitchen();
-            } else if(c == 'e'){
-                pc.printf("desk\r\n");
-                smart.desk();
-            } else if(c == 'x'){
-                pc.printf("desk to kitchen\r\n");
-                smart.desk_to_kitchen();                
-            } else if(c == 'u') {
-                pc.printf ("Enter a long number: ");
-                char d = pc.getc();
-                double displacement = 0;
-                if(d == '1')
-                    displacement = 5461;
-                if(d == '2')
-                    displacement = 3658;
-                if(d == '3')
-                    displacement = 305;
-                if(d == '4')
-                    displacement = 1000;
-                if(displacement > 0)
-                {
-                    smart.pid_forward(displacement);
-                }
-                else if(displacement < 0)
-                {
-                    smart.pid_reverse(displacement);
-                }    
-            } else if( c == 'm' || manual) {
+            
+            } 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); 
+                    smart.move(x,y);                                    //Reads from joystick and moves
                     if( pc.readable()) {
                         char d = pc.getc();
-                        if( d == 'm') {
+                        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();
+            }  else {
+                    pc.printf("none \r\n");
+                    smart.stop();                                      //If nothing else is happening stop the chair
             }
         }
-
         else {
-            //        pc.printf("Nothing pressed \r\n");
-            smart.stop();
+            smart.stop();                                              //If nothing else is happening stop the chair
         }
         wait(process);
     }
-
 }
-
-
-
-
-