wheelchair code for alexa integration
Fork of wheelchaircontrol by
wheelchair.cpp@7:5e38d43fbce3, 2018-07-22 (annotated)
- Committer:
- ryanlin97
- Date:
- Sun Jul 22 06:15:03 2018 +0000
- Revision:
- 7:5e38d43fbce3
- Parent:
- 6:0cd57bdd8fbc
- Child:
- 8:381a4ec3fef8
turning
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryanlin97 | 0:fc0c4a184482 | 1 | #include "wheelchair.h" |
ryanlin97 | 1:c0beadca1617 | 2 | |
ryanlin97 | 7:5e38d43fbce3 | 3 | Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time) |
ryanlin97 | 1:c0beadca1617 | 4 | { |
ryanlin97 | 3:a5e71bfdb492 | 5 | x = new PwmOut(xPin); |
ryanlin97 | 3:a5e71bfdb492 | 6 | y = new PwmOut(yPin); |
ryanlin97 | 6:0cd57bdd8fbc | 7 | //imu = new chair_BNO055(); |
ryanlin97 | 7:5e38d43fbce3 | 8 | imu = new chair_MPU9250(pc, time); |
ryanlin97 | 7:5e38d43fbce3 | 9 | imu->setup(); |
ryanlin97 | 7:5e38d43fbce3 | 10 | out = pc; |
ryanlin97 | 7:5e38d43fbce3 | 11 | out->printf("wheelchair setup done \n"); |
ryanlin97 | 7:5e38d43fbce3 | 12 | |
ryanlin97 | 1:c0beadca1617 | 13 | } |
ryanlin97 | 6:0cd57bdd8fbc | 14 | |
ryanlin97 | 3:a5e71bfdb492 | 15 | /* |
ryanlin97 | 3:a5e71bfdb492 | 16 | * joystick has analog out of 200-700, scale values between 1.3 and 3.3 |
ryanlin97 | 3:a5e71bfdb492 | 17 | */ |
ryanlin97 | 3:a5e71bfdb492 | 18 | void Wheelchair::move(float x_coor, float y_coor) |
ryanlin97 | 1:c0beadca1617 | 19 | { |
ryanlin97 | 6:0cd57bdd8fbc | 20 | |
ryanlin97 | 4:29a27953fe70 | 21 | float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f; |
ryanlin97 | 4:29a27953fe70 | 22 | float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f; |
ryanlin97 | 4:29a27953fe70 | 23 | x->write(scaled_x); |
ryanlin97 | 4:29a27953fe70 | 24 | y->write(scaled_y); |
ryanlin97 | 1:c0beadca1617 | 25 | |
ryanlin97 | 5:e0ccaab3959a | 26 | } |
ryanlin97 | 1:c0beadca1617 | 27 | void Wheelchair::forward() |
ryanlin97 | 1:c0beadca1617 | 28 | { |
ryanlin97 | 0:fc0c4a184482 | 29 | x->write(high); |
ryanlin97 | 3:a5e71bfdb492 | 30 | y->write(def+offset); |
ryanlin97 | 0:fc0c4a184482 | 31 | } |
ryanlin97 | 0:fc0c4a184482 | 32 | |
ryanlin97 | 1:c0beadca1617 | 33 | void Wheelchair::backward() |
ryanlin97 | 1:c0beadca1617 | 34 | { |
ryanlin97 | 0:fc0c4a184482 | 35 | x->write(low); |
ryanlin97 | 0:fc0c4a184482 | 36 | y->write(def); |
ryanlin97 | 0:fc0c4a184482 | 37 | } |
ryanlin97 | 0:fc0c4a184482 | 38 | |
ryanlin97 | 1:c0beadca1617 | 39 | void Wheelchair::right() |
ryanlin97 | 1:c0beadca1617 | 40 | { |
ryanlin97 | 0:fc0c4a184482 | 41 | x->write(def); |
ryanlin97 | 0:fc0c4a184482 | 42 | y->write(high); |
ryanlin97 | 0:fc0c4a184482 | 43 | } |
ryanlin97 | 0:fc0c4a184482 | 44 | |
ryanlin97 | 1:c0beadca1617 | 45 | void Wheelchair::left() |
ryanlin97 | 1:c0beadca1617 | 46 | { |
ryanlin97 | 0:fc0c4a184482 | 47 | x->write(def); |
ryanlin97 | 0:fc0c4a184482 | 48 | y->write(low); |
ryanlin97 | 0:fc0c4a184482 | 49 | } |
ryanlin97 | 0:fc0c4a184482 | 50 | |
ryanlin97 | 1:c0beadca1617 | 51 | void Wheelchair::stop() |
ryanlin97 | 1:c0beadca1617 | 52 | { |
ryanlin97 | 0:fc0c4a184482 | 53 | x->write(def); |
ryanlin97 | 0:fc0c4a184482 | 54 | y->write(def); |
ryanlin97 | 6:0cd57bdd8fbc | 55 | } |
ryanlin97 | 6:0cd57bdd8fbc | 56 | |
ryanlin97 | 7:5e38d43fbce3 | 57 | void Wheelchair::turn_right() |
ryanlin97 | 6:0cd57bdd8fbc | 58 | { |
ryanlin97 | 7:5e38d43fbce3 | 59 | out->printf("turning right\n"); |
ryanlin97 | 7:5e38d43fbce3 | 60 | |
ryanlin97 | 6:0cd57bdd8fbc | 61 | double start = imu->yaw(); |
ryanlin97 | 6:0cd57bdd8fbc | 62 | double final = start + 90; |
ryanlin97 | 7:5e38d43fbce3 | 63 | |
ryanlin97 | 7:5e38d43fbce3 | 64 | out->printf("final %f \n", final); |
ryanlin97 | 7:5e38d43fbce3 | 65 | out->printf("start %f \n", start); |
ryanlin97 | 7:5e38d43fbce3 | 66 | if(final > 360) { |
ryanlin97 | 6:0cd57bdd8fbc | 67 | final -= 360; |
ryanlin97 | 7:5e38d43fbce3 | 68 | out->printf("final %f \n", final); |
ryanlin97 | 7:5e38d43fbce3 | 69 | while(imu->yaw() - 360 <= final) { |
ryanlin97 | 7:5e38d43fbce3 | 70 | Wheelchair::right(); |
ryanlin97 | 7:5e38d43fbce3 | 71 | if( out->readable()) { |
ryanlin97 | 7:5e38d43fbce3 | 72 | out->printf("stopped\n"); |
ryanlin97 | 7:5e38d43fbce3 | 73 | Wheelchair::stop(); |
ryanlin97 | 7:5e38d43fbce3 | 74 | return; |
ryanlin97 | 7:5e38d43fbce3 | 75 | } |
ryanlin97 | 7:5e38d43fbce3 | 76 | } |
ryanlin97 | 7:5e38d43fbce3 | 77 | } |
ryanlin97 | 7:5e38d43fbce3 | 78 | |
ryanlin97 | 7:5e38d43fbce3 | 79 | else { |
ryanlin97 | 7:5e38d43fbce3 | 80 | out->printf("final %f \n", final); |
ryanlin97 | 7:5e38d43fbce3 | 81 | while(imu->yaw() <= final) { |
ryanlin97 | 7:5e38d43fbce3 | 82 | Wheelchair::right(); |
ryanlin97 | 7:5e38d43fbce3 | 83 | if( out->readable()) { |
ryanlin97 | 7:5e38d43fbce3 | 84 | out->printf("stopped\n"); |
ryanlin97 | 7:5e38d43fbce3 | 85 | Wheelchair::stop(); |
ryanlin97 | 7:5e38d43fbce3 | 86 | return; |
ryanlin97 | 7:5e38d43fbce3 | 87 | } |
ryanlin97 | 6:0cd57bdd8fbc | 88 | } |
ryanlin97 | 6:0cd57bdd8fbc | 89 | } |
ryanlin97 | 7:5e38d43fbce3 | 90 | out->printf("done turning\n"); |
ryanlin97 | 6:0cd57bdd8fbc | 91 | } |
ryanlin97 | 6:0cd57bdd8fbc | 92 | |
ryanlin97 | 6:0cd57bdd8fbc | 93 | void Wheelchair::turn_left() |
ryanlin97 | 6:0cd57bdd8fbc | 94 | { |
ryanlin97 | 6:0cd57bdd8fbc | 95 | double start = imu->yaw(); |
ryanlin97 | 6:0cd57bdd8fbc | 96 | double final = start - 90; |
ryanlin97 | 6:0cd57bdd8fbc | 97 | if(final <0) |
ryanlin97 | 6:0cd57bdd8fbc | 98 | final += 360; |
ryanlin97 | 6:0cd57bdd8fbc | 99 | |
ryanlin97 | 6:0cd57bdd8fbc | 100 | while(imu->yaw() >= final) { |
ryanlin97 | 6:0cd57bdd8fbc | 101 | Wheelchair::left(); |
ryanlin97 | 6:0cd57bdd8fbc | 102 | } |
ryanlin97 | 6:0cd57bdd8fbc | 103 | } |