wheelchair class
Dependencies: QEI chair_BNO055 pid ros_lib_kinetic
Dependents: wheelchaircontrolrealtime
wheelchair.cpp@11:d14a1f7f1297, 2018-08-01 (annotated)
- Committer:
- ryanlin97
- Date:
- Wed Aug 01 22:39:22 2018 +0000
- Revision:
- 11:d14a1f7f1297
- Parent:
- 10:e5463c11e0a0
- Child:
- 12:921488918749
fiddling with the turning to correct itself
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryanlin97 | 0:fc0c4a184482 | 1 | #include "wheelchair.h" |
ryanlin97 | 11:d14a1f7f1297 | 2 | |
ryanlin97 | 10:e5463c11e0a0 | 3 | bool manual_drive = false; |
ryanlin97 | 11:d14a1f7f1297 | 4 | volatile float north; |
ryanlin97 | 11:d14a1f7f1297 | 5 | volatile float curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 6 | volatile float comp_yn; |
ryanlin97 | 1:c0beadca1617 | 7 | |
ryanlin97 | 11:d14a1f7f1297 | 8 | void Wheelchair::compass_thread() { |
ryanlin97 | 11:d14a1f7f1297 | 9 | //north = lowPass(imu->angle_north()); |
ryanlin97 | 11:d14a1f7f1297 | 10 | curr_yaw = imu->yaw(); |
ryanlin97 | 11:d14a1f7f1297 | 11 | north = boxcar(imu->angle_north()); |
ryanlin97 | 11:d14a1f7f1297 | 12 | //out->printf("curr_yaw %f\n", curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 13 | comp_yn = complement(north,curr_yaw,.5); |
ryanlin97 | 11:d14a1f7f1297 | 14 | out->printf("%f curr_yaw\n", curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 15 | out->printf("%f gyroz\n",imu->gyro_z()); |
ryanlin97 | 11:d14a1f7f1297 | 16 | //out->printf("yaw is %f, north is %f, curr_yaw is %f\n", comp_yn, north, curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 17 | |
ryanlin97 | 11:d14a1f7f1297 | 18 | //out->printf("Yaw is %f\n", imu->yaw()); |
ryanlin97 | 11:d14a1f7f1297 | 19 | //out->printf("north is %f\n", imu->angle_north()); |
ryanlin97 | 11:d14a1f7f1297 | 20 | } |
ryanlin97 | 11:d14a1f7f1297 | 21 | |
ryanlin97 | 8:381a4ec3fef8 | 22 | Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time ) |
ryanlin97 | 1:c0beadca1617 | 23 | { |
ryanlin97 | 3:a5e71bfdb492 | 24 | x = new PwmOut(xPin); |
ryanlin97 | 3:a5e71bfdb492 | 25 | y = new PwmOut(yPin); |
ryanlin97 | 11:d14a1f7f1297 | 26 | imu = new chair_BNO055(pc, time); |
ryanlin97 | 11:d14a1f7f1297 | 27 | //imu = new chair_MPU9250(pc, time); |
ryanlin97 | 11:d14a1f7f1297 | 28 | Wheelchair::stop(); |
ryanlin97 | 7:5e38d43fbce3 | 29 | imu->setup(); |
ryanlin97 | 7:5e38d43fbce3 | 30 | out = pc; |
ryanlin97 | 7:5e38d43fbce3 | 31 | out->printf("wheelchair setup done \n"); |
ryanlin97 | 11:d14a1f7f1297 | 32 | ti = time; |
ryanlin97 | 7:5e38d43fbce3 | 33 | |
ryanlin97 | 1:c0beadca1617 | 34 | } |
ryanlin97 | 6:0cd57bdd8fbc | 35 | |
ryanlin97 | 3:a5e71bfdb492 | 36 | /* |
ryanlin97 | 3:a5e71bfdb492 | 37 | * joystick has analog out of 200-700, scale values between 1.3 and 3.3 |
ryanlin97 | 3:a5e71bfdb492 | 38 | */ |
ryanlin97 | 3:a5e71bfdb492 | 39 | void Wheelchair::move(float x_coor, float y_coor) |
ryanlin97 | 1:c0beadca1617 | 40 | { |
ryanlin97 | 6:0cd57bdd8fbc | 41 | |
ryanlin97 | 4:29a27953fe70 | 42 | float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f; |
ryanlin97 | 4:29a27953fe70 | 43 | float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f; |
ryanlin97 | 11:d14a1f7f1297 | 44 | |
ryanlin97 | 11:d14a1f7f1297 | 45 | // lowPass(scaled_x); |
ryanlin97 | 11:d14a1f7f1297 | 46 | //lowPass(scaled_y); |
ryanlin97 | 11:d14a1f7f1297 | 47 | |
ryanlin97 | 4:29a27953fe70 | 48 | x->write(scaled_x); |
ryanlin97 | 4:29a27953fe70 | 49 | y->write(scaled_y); |
ryanlin97 | 11:d14a1f7f1297 | 50 | |
ryanlin97 | 11:d14a1f7f1297 | 51 | //out->printf("yaw %f\n", imu->yaw()); |
ryanlin97 | 1:c0beadca1617 | 52 | |
ryanlin97 | 5:e0ccaab3959a | 53 | } |
ryanlin97 | 11:d14a1f7f1297 | 54 | |
ryanlin97 | 1:c0beadca1617 | 55 | void Wheelchair::forward() |
ryanlin97 | 1:c0beadca1617 | 56 | { |
ryanlin97 | 0:fc0c4a184482 | 57 | x->write(high); |
ryanlin97 | 3:a5e71bfdb492 | 58 | y->write(def+offset); |
ryanlin97 | 0:fc0c4a184482 | 59 | } |
ryanlin97 | 0:fc0c4a184482 | 60 | |
ryanlin97 | 1:c0beadca1617 | 61 | void Wheelchair::backward() |
ryanlin97 | 1:c0beadca1617 | 62 | { |
ryanlin97 | 0:fc0c4a184482 | 63 | x->write(low); |
ryanlin97 | 0:fc0c4a184482 | 64 | y->write(def); |
ryanlin97 | 0:fc0c4a184482 | 65 | } |
ryanlin97 | 0:fc0c4a184482 | 66 | |
ryanlin97 | 1:c0beadca1617 | 67 | void Wheelchair::right() |
ryanlin97 | 1:c0beadca1617 | 68 | { |
ryanlin97 | 0:fc0c4a184482 | 69 | x->write(def); |
ryanlin97 | 11:d14a1f7f1297 | 70 | y->write(low); |
ryanlin97 | 11:d14a1f7f1297 | 71 | //y->write(1.9); |
ryanlin97 | 11:d14a1f7f1297 | 72 | |
ryanlin97 | 0:fc0c4a184482 | 73 | } |
ryanlin97 | 0:fc0c4a184482 | 74 | |
ryanlin97 | 1:c0beadca1617 | 75 | void Wheelchair::left() |
ryanlin97 | 1:c0beadca1617 | 76 | { |
ryanlin97 | 0:fc0c4a184482 | 77 | x->write(def); |
ryanlin97 | 11:d14a1f7f1297 | 78 | y->write(high); |
ryanlin97 | 0:fc0c4a184482 | 79 | } |
ryanlin97 | 0:fc0c4a184482 | 80 | |
ryanlin97 | 1:c0beadca1617 | 81 | void Wheelchair::stop() |
ryanlin97 | 1:c0beadca1617 | 82 | { |
ryanlin97 | 0:fc0c4a184482 | 83 | x->write(def); |
ryanlin97 | 0:fc0c4a184482 | 84 | y->write(def); |
ryanlin97 | 6:0cd57bdd8fbc | 85 | } |
ryanlin97 | 11:d14a1f7f1297 | 86 | // counter clockwise is - |
ryanlin97 | 11:d14a1f7f1297 | 87 | // clockwise is + |
ryanlin97 | 6:0cd57bdd8fbc | 88 | |
ryanlin97 | 11:d14a1f7f1297 | 89 | double Wheelchair::turn_right(int deg) |
ryanlin97 | 6:0cd57bdd8fbc | 90 | { |
ryanlin97 | 8:381a4ec3fef8 | 91 | bool overturn = false; |
ryanlin97 | 7:5e38d43fbce3 | 92 | out->printf("turning right\n"); |
ryanlin97 | 7:5e38d43fbce3 | 93 | |
ryanlin97 | 11:d14a1f7f1297 | 94 | double start = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 95 | double final = start + deg; |
ryanlin97 | 11:d14a1f7f1297 | 96 | |
ryanlin97 | 11:d14a1f7f1297 | 97 | if(final > 360) { |
ryanlin97 | 11:d14a1f7f1297 | 98 | final -= 360; |
ryanlin97 | 8:381a4ec3fef8 | 99 | overturn = true; |
ryanlin97 | 8:381a4ec3fef8 | 100 | } |
ryanlin97 | 8:381a4ec3fef8 | 101 | |
ryanlin97 | 8:381a4ec3fef8 | 102 | out->printf("start %f, final %f\n", start, final); |
ryanlin97 | 11:d14a1f7f1297 | 103 | |
ryanlin97 | 11:d14a1f7f1297 | 104 | double curr = -1; |
ryanlin97 | 11:d14a1f7f1297 | 105 | while(curr <= final) { |
ryanlin97 | 8:381a4ec3fef8 | 106 | Wheelchair::right(); |
ryanlin97 | 8:381a4ec3fef8 | 107 | if( out->readable()) { |
ryanlin97 | 8:381a4ec3fef8 | 108 | out->printf("stopped\n"); |
ryanlin97 | 8:381a4ec3fef8 | 109 | Wheelchair::stop(); |
ryanlin97 | 8:381a4ec3fef8 | 110 | return; |
ryanlin97 | 7:5e38d43fbce3 | 111 | } |
ryanlin97 | 11:d14a1f7f1297 | 112 | curr = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 113 | if(overturn && curr > (360 - deg) ) { |
ryanlin97 | 11:d14a1f7f1297 | 114 | curr = 0; |
ryanlin97 | 6:0cd57bdd8fbc | 115 | } |
ryanlin97 | 6:0cd57bdd8fbc | 116 | } |
ryanlin97 | 11:d14a1f7f1297 | 117 | |
ryanlin97 | 11:d14a1f7f1297 | 118 | out->printf("done turning start %f final %f\n", start, final); |
ryanlin97 | 10:e5463c11e0a0 | 119 | Wheelchair::stop(); |
ryanlin97 | 11:d14a1f7f1297 | 120 | |
ryanlin97 | 11:d14a1f7f1297 | 121 | return final; |
ryanlin97 | 6:0cd57bdd8fbc | 122 | } |
ryanlin97 | 6:0cd57bdd8fbc | 123 | |
ryanlin97 | 11:d14a1f7f1297 | 124 | double Wheelchair::turn_left(int deg) |
ryanlin97 | 6:0cd57bdd8fbc | 125 | { |
ryanlin97 | 8:381a4ec3fef8 | 126 | bool overturn = false; |
ryanlin97 | 8:381a4ec3fef8 | 127 | out->printf("turning left\n"); |
ryanlin97 | 8:381a4ec3fef8 | 128 | |
ryanlin97 | 11:d14a1f7f1297 | 129 | double start = comp_yn; |
ryanlin97 | 11:d14a1f7f1297 | 130 | double final = start - deg; |
ryanlin97 | 8:381a4ec3fef8 | 131 | |
ryanlin97 | 11:d14a1f7f1297 | 132 | if(final < 0) { |
ryanlin97 | 11:d14a1f7f1297 | 133 | final += 360; |
ryanlin97 | 8:381a4ec3fef8 | 134 | overturn = true; |
ryanlin97 | 8:381a4ec3fef8 | 135 | } |
ryanlin97 | 8:381a4ec3fef8 | 136 | |
ryanlin97 | 11:d14a1f7f1297 | 137 | out->printf("start %f, final %f\n", start, final); |
ryanlin97 | 6:0cd57bdd8fbc | 138 | |
ryanlin97 | 11:d14a1f7f1297 | 139 | double curr = 361; |
ryanlin97 | 11:d14a1f7f1297 | 140 | while(curr >= final) { |
ryanlin97 | 6:0cd57bdd8fbc | 141 | Wheelchair::left(); |
ryanlin97 | 8:381a4ec3fef8 | 142 | if( out->readable()) { |
ryanlin97 | 8:381a4ec3fef8 | 143 | out->printf("stopped\n"); |
ryanlin97 | 8:381a4ec3fef8 | 144 | Wheelchair::stop(); |
ryanlin97 | 8:381a4ec3fef8 | 145 | return; |
ryanlin97 | 8:381a4ec3fef8 | 146 | } |
ryanlin97 | 11:d14a1f7f1297 | 147 | curr = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 148 | |
ryanlin97 | 11:d14a1f7f1297 | 149 | if(overturn && curr >= 0 && curr <= start ) { |
ryanlin97 | 11:d14a1f7f1297 | 150 | curr = 361; |
ryanlin97 | 8:381a4ec3fef8 | 151 | } |
ryanlin97 | 6:0cd57bdd8fbc | 152 | } |
ryanlin97 | 8:381a4ec3fef8 | 153 | |
ryanlin97 | 11:d14a1f7f1297 | 154 | out->printf("done turning start %f final %f\n", start, final); |
ryanlin97 | 10:e5463c11e0a0 | 155 | Wheelchair::stop(); |
ryanlin97 | 11:d14a1f7f1297 | 156 | |
ryanlin97 | 11:d14a1f7f1297 | 157 | return final; |
ryanlin97 | 11:d14a1f7f1297 | 158 | } |
ryanlin97 | 11:d14a1f7f1297 | 159 | |
ryanlin97 | 11:d14a1f7f1297 | 160 | void Wheelchair::turn(int deg) |
ryanlin97 | 11:d14a1f7f1297 | 161 | { |
ryanlin97 | 11:d14a1f7f1297 | 162 | if(deg > 180) { |
ryanlin97 | 11:d14a1f7f1297 | 163 | deg -= 360; |
ryanlin97 | 11:d14a1f7f1297 | 164 | } |
ryanlin97 | 11:d14a1f7f1297 | 165 | |
ryanlin97 | 11:d14a1f7f1297 | 166 | else if(deg < -180) { |
ryanlin97 | 11:d14a1f7f1297 | 167 | deg+=360; |
ryanlin97 | 11:d14a1f7f1297 | 168 | } |
ryanlin97 | 11:d14a1f7f1297 | 169 | |
ryanlin97 | 11:d14a1f7f1297 | 170 | double finalpos; |
ryanlin97 | 11:d14a1f7f1297 | 171 | int turnAmt = abs(deg); |
ryanlin97 | 11:d14a1f7f1297 | 172 | //ti->reset(); |
ryanlin97 | 11:d14a1f7f1297 | 173 | /* |
ryanlin97 | 11:d14a1f7f1297 | 174 | if(deg >= 0){ |
ryanlin97 | 11:d14a1f7f1297 | 175 | finalpos = Wheelchair::turn_right(turnAmt); |
ryanlin97 | 11:d14a1f7f1297 | 176 | } |
ryanlin97 | 11:d14a1f7f1297 | 177 | else { |
ryanlin97 | 11:d14a1f7f1297 | 178 | finalpos = Wheelchair::turn_left(turnAmt); |
ryanlin97 | 11:d14a1f7f1297 | 179 | } |
ryanlin97 | 11:d14a1f7f1297 | 180 | */ |
ryanlin97 | 11:d14a1f7f1297 | 181 | wait(2); |
ryanlin97 | 11:d14a1f7f1297 | 182 | |
ryanlin97 | 11:d14a1f7f1297 | 183 | float correction = finalpos - curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 184 | out->printf("final pos %f actual pos %f\n", finalpos, curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 185 | |
ryanlin97 | 11:d14a1f7f1297 | 186 | |
ryanlin97 | 11:d14a1f7f1297 | 187 | //if(abs(correction) > turn_precision) { |
ryanlin97 | 11:d14a1f7f1297 | 188 | out->printf("correcting %f\n", correction); |
ryanlin97 | 11:d14a1f7f1297 | 189 | //ti->reset(); |
ryanlin97 | 11:d14a1f7f1297 | 190 | Wheelchair::turn_left(curr_yaw - finalpos); |
ryanlin97 | 11:d14a1f7f1297 | 191 | return; |
ryanlin97 | 11:d14a1f7f1297 | 192 | //} |
ryanlin97 | 11:d14a1f7f1297 | 193 | |
ryanlin97 | 11:d14a1f7f1297 | 194 | |
ryanlin97 | 6:0cd57bdd8fbc | 195 | } |
ryanlin97 | 8:381a4ec3fef8 | 196 | |
ryanlin97 | 10:e5463c11e0a0 | 197 |