with pid foward right left foward

Dependencies:   wheelchaircontrolRosCom

Fork of wheelchaircontrolrealtime by ryan lin

main.cpp

Committer:
jvfausto
Date:
11 months ago
Revision:
10:beaa2ddfef32
Parent:
9:1081ebfe3db0

File content as of revision 10:beaa2ddfef32:

#include "wheelchair.h"

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 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);                     //Initializes analog axis for the joystick
AnalogIn y(A1);

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 Monitor

Timer t;                            //Initialize time object t
EventQueue queue;                   //Class to organize threads

ros::NodeHandle nh;
nav_msgs::Odometry odom;
geometry_msgs::Twist commandRead;

void handlerFunction(const geometry_msgs::Twist& command){
    commandRead = command;
}

ros::Subscriber<geometry_msgs::Twist> sub("cmd_vel", &handlerFunction);
ros::Publisher chatter("odom", &odom);
ros::Publisher chatter2("cmd_vel", &commandRead);

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

void rosCom_thread()
{
        odom.pose.pose.position.x = smart.x_position;
        odom.pose.pose.position.y = smart.y_position;
        odom.pose.pose.position.z = 0;
        //set the orientation
        odom.pose.pose.orientation.z = smart.z_angular;
        odom.pose.pose.orientation.x = 0;
        odom.pose.pose.orientation.y = 0;
        odom.twist.twist.linear.x = smart.curr_vel;
        odom.twist.twist.linear.y = 0;
        odom.twist.twist.linear.z = 0;
        odom.twist.twist.angular.x = 0;
        odom.twist.twist.angular.y = 0;
        odom.twist.twist.angular.z = smart.getTwistZ();
        chatter.publish(&odom);
        chatter2.publish(&commandRead);
        nh.spinOnce();
}    
int main(void)
{   
    nh.initNode();
    nh.advertise(chatter);
    nh.advertise(chatter2);
    nh.subscribe(sub);
    
    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(200, rosCom_thread); //Sets up sampling frequency of the velosity_thread
    t.reset();
    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();                                         //Read the instruction sent
            if( c == 'w') {
                smart.forward();                                        //Move foward
            }
            else if( c == 'a') {
                smart.left();                                           //Turn left
            }
            else if( c == 'd') {
                smart.right();                                          //Turn right
            }
            else if( c == 's') {
                smart.backward();                                       //Turn rackwards
            }
            
            else if( c == 't') {                                        
                smart.pid_twistA();
                /*
                char buffer[256];                                       //Buffer for Angle to turn                
                pc.printf ("Enter a long number: ");  
                int angle = 0;
      
                //if you can not send a string        
                char d = pc.getc();                                     //Reads wether to turn right or left
                if(d == 'r')
                {
                     angle = 90;
                }                
                if(d == 'l')
                {
                     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");           
                } else {
                    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') {                                       //Turns off chair
                pc.printf("turning off\r\n");
                off = 1;
                wait(1);
                off = 0;
            
            } 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);                                    //Reads from joystick and moves
                    if( pc.readable()) {
                        char d = pc.getc();
                        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();                                      //If nothing else is happening stop the chair
            }
        }
        else {
            smart.stop();                                              //If nothing else is happening stop the chair
        }

        wait(process);
    }
}