for ros
Dependencies: QEI chair_BNO055 pid ros_lib_kinetic
Dependents: wheelchaircontrolrealtimeROS
Fork of wheelchaircontrol by
wheelchair.cpp@16:53d912c86c7f, 2018-08-17 (annotated)
- Committer:
- ryanlin97
- Date:
- Fri Aug 17 20:46:53 2018 +0000
- Revision:
- 16:53d912c86c7f
- Parent:
- 14:9caca9fde9b0
- Child:
- 17:93a636b16b9e
for fork from main wheelchair
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 | 12:921488918749 | 5 | //volatile double curr_yaw; |
ryanlin97 | 12:921488918749 | 6 | double curr_yaw; |
ryanlin97 | 12:921488918749 | 7 | double Setpoint, Output; |
ryanlin97 | 16:53d912c86c7f | 8 | //PID myPID(&curr_yaw, &Output, &Setpoint, .1, .1, 5, DIRECT); |
ryanlin97 | 1:c0beadca1617 | 9 | |
ryanlin97 | 11:d14a1f7f1297 | 10 | void Wheelchair::compass_thread() { |
ryanlin97 | 11:d14a1f7f1297 | 11 | curr_yaw = imu->yaw(); |
ryanlin97 | 11:d14a1f7f1297 | 12 | } |
ryanlin97 | 11:d14a1f7f1297 | 13 | |
ryanlin97 | 8:381a4ec3fef8 | 14 | Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time ) |
ryanlin97 | 1:c0beadca1617 | 15 | { |
ryanlin97 | 3:a5e71bfdb492 | 16 | x = new PwmOut(xPin); |
ryanlin97 | 3:a5e71bfdb492 | 17 | y = new PwmOut(yPin); |
ryanlin97 | 11:d14a1f7f1297 | 18 | imu = new chair_BNO055(pc, time); |
ryanlin97 | 11:d14a1f7f1297 | 19 | //imu = new chair_MPU9250(pc, time); |
ryanlin97 | 11:d14a1f7f1297 | 20 | Wheelchair::stop(); |
ryanlin97 | 7:5e38d43fbce3 | 21 | imu->setup(); |
ryanlin97 | 7:5e38d43fbce3 | 22 | out = pc; |
ryanlin97 | 7:5e38d43fbce3 | 23 | out->printf("wheelchair setup done \n"); |
ryanlin97 | 11:d14a1f7f1297 | 24 | ti = time; |
ryanlin97 | 14:9caca9fde9b0 | 25 | wheel = new QEI(Encoder1, Encoder2, NC, EncoderReadRate); |
ryanlin97 | 12:921488918749 | 26 | myPID.SetMode(AUTOMATIC); |
ryanlin97 | 1:c0beadca1617 | 27 | } |
ryanlin97 | 6:0cd57bdd8fbc | 28 | |
ryanlin97 | 3:a5e71bfdb492 | 29 | /* |
ryanlin97 | 3:a5e71bfdb492 | 30 | * joystick has analog out of 200-700, scale values between 1.3 and 3.3 |
ryanlin97 | 3:a5e71bfdb492 | 31 | */ |
ryanlin97 | 3:a5e71bfdb492 | 32 | void Wheelchair::move(float x_coor, float y_coor) |
ryanlin97 | 1:c0beadca1617 | 33 | { |
ryanlin97 | 6:0cd57bdd8fbc | 34 | |
ryanlin97 | 4:29a27953fe70 | 35 | float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f; |
ryanlin97 | 4:29a27953fe70 | 36 | float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f; |
ryanlin97 | 11:d14a1f7f1297 | 37 | |
ryanlin97 | 11:d14a1f7f1297 | 38 | // lowPass(scaled_x); |
ryanlin97 | 11:d14a1f7f1297 | 39 | //lowPass(scaled_y); |
ryanlin97 | 11:d14a1f7f1297 | 40 | |
ryanlin97 | 4:29a27953fe70 | 41 | x->write(scaled_x); |
ryanlin97 | 4:29a27953fe70 | 42 | y->write(scaled_y); |
ryanlin97 | 11:d14a1f7f1297 | 43 | |
ryanlin97 | 11:d14a1f7f1297 | 44 | //out->printf("yaw %f\n", imu->yaw()); |
ryanlin97 | 1:c0beadca1617 | 45 | |
ryanlin97 | 5:e0ccaab3959a | 46 | } |
ryanlin97 | 11:d14a1f7f1297 | 47 | |
ryanlin97 | 1:c0beadca1617 | 48 | void Wheelchair::forward() |
ryanlin97 | 1:c0beadca1617 | 49 | { |
ryanlin97 | 0:fc0c4a184482 | 50 | x->write(high); |
ryanlin97 | 3:a5e71bfdb492 | 51 | y->write(def+offset); |
ryanlin97 | 0:fc0c4a184482 | 52 | } |
ryanlin97 | 0:fc0c4a184482 | 53 | |
ryanlin97 | 1:c0beadca1617 | 54 | void Wheelchair::backward() |
ryanlin97 | 1:c0beadca1617 | 55 | { |
ryanlin97 | 0:fc0c4a184482 | 56 | x->write(low); |
ryanlin97 | 0:fc0c4a184482 | 57 | y->write(def); |
ryanlin97 | 0:fc0c4a184482 | 58 | } |
ryanlin97 | 0:fc0c4a184482 | 59 | |
ryanlin97 | 1:c0beadca1617 | 60 | void Wheelchair::right() |
ryanlin97 | 1:c0beadca1617 | 61 | { |
ryanlin97 | 0:fc0c4a184482 | 62 | x->write(def); |
ryanlin97 | 11:d14a1f7f1297 | 63 | y->write(low); |
ryanlin97 | 0:fc0c4a184482 | 64 | } |
ryanlin97 | 0:fc0c4a184482 | 65 | |
ryanlin97 | 1:c0beadca1617 | 66 | void Wheelchair::left() |
ryanlin97 | 1:c0beadca1617 | 67 | { |
ryanlin97 | 0:fc0c4a184482 | 68 | x->write(def); |
ryanlin97 | 11:d14a1f7f1297 | 69 | y->write(high); |
ryanlin97 | 0:fc0c4a184482 | 70 | } |
ryanlin97 | 0:fc0c4a184482 | 71 | |
ryanlin97 | 1:c0beadca1617 | 72 | void Wheelchair::stop() |
ryanlin97 | 1:c0beadca1617 | 73 | { |
ryanlin97 | 0:fc0c4a184482 | 74 | x->write(def); |
ryanlin97 | 0:fc0c4a184482 | 75 | y->write(def); |
ryanlin97 | 6:0cd57bdd8fbc | 76 | } |
ryanlin97 | 11:d14a1f7f1297 | 77 | // counter clockwise is - |
ryanlin97 | 11:d14a1f7f1297 | 78 | // clockwise is + |
ryanlin97 | 12:921488918749 | 79 | void Wheelchair::pid_right(int deg) |
ryanlin97 | 12:921488918749 | 80 | { |
ryanlin97 | 12:921488918749 | 81 | bool overturn = false; |
ryanlin97 | 12:921488918749 | 82 | |
ryanlin97 | 12:921488918749 | 83 | out->printf("pid right\n"); |
ryanlin97 | 12:921488918749 | 84 | x->write(def); |
ryanlin97 | 12:921488918749 | 85 | Setpoint = curr_yaw + deg; |
ryanlin97 | 12:921488918749 | 86 | |
ryanlin97 | 12:921488918749 | 87 | if(Setpoint > 360) { |
ryanlin97 | 12:921488918749 | 88 | Setpoint -= 360; |
ryanlin97 | 12:921488918749 | 89 | overturn = true; |
ryanlin97 | 12:921488918749 | 90 | } |
ryanlin97 | 12:921488918749 | 91 | |
ryanlin97 | 16:53d912c86c7f | 92 | myPID.SetOutputLimits(0, def-low); |
ryanlin97 | 12:921488918749 | 93 | myPID.SetControllerDirection(REVERSE); |
ryanlin97 | 16:53d912c86c7f | 94 | |
ryanlin97 | 16:53d912c86c7f | 95 | while(Setpoint <= curr_yaw){ |
ryanlin97 | 16:53d912c86c7f | 96 | myPID.Compute(); |
ryanlin97 | 16:53d912c86c7f | 97 | y->write(Output+low); |
ryanlin97 | 12:921488918749 | 98 | out->printf("curr_yaw %f\n", curr_yaw); |
ryanlin97 | 16:53d912c86c7f | 99 | wait(process); |
ryanlin97 | 12:921488918749 | 100 | } |
ryanlin97 | 12:921488918749 | 101 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 102 | out->printf("done \n"); |
ryanlin97 | 12:921488918749 | 103 | } |
ryanlin97 | 6:0cd57bdd8fbc | 104 | |
ryanlin97 | 12:921488918749 | 105 | void Wheelchair::pid_left(int deg) |
ryanlin97 | 12:921488918749 | 106 | { |
ryanlin97 | 12:921488918749 | 107 | bool overturn = false; |
ryanlin97 | 12:921488918749 | 108 | |
ryanlin97 | 12:921488918749 | 109 | x->write(def); |
ryanlin97 | 12:921488918749 | 110 | Setpoint = curr_yaw - deg; |
ryanlin97 | 12:921488918749 | 111 | |
ryanlin97 | 12:921488918749 | 112 | if(Setpoint < 0) { |
ryanlin97 | 12:921488918749 | 113 | Setpoint += 360; |
ryanlin97 | 12:921488918749 | 114 | overturn = true; |
ryanlin97 | 12:921488918749 | 115 | } |
ryanlin97 | 12:921488918749 | 116 | myPID.SetOutputLimits(def,high); |
ryanlin97 | 12:921488918749 | 117 | myPID.SetControllerDirection(DIRECT); |
ryanlin97 | 12:921488918749 | 118 | while(myPID.Compute()) { |
ryanlin97 | 12:921488918749 | 119 | y->write(Output); |
ryanlin97 | 12:921488918749 | 120 | out->printf("curr_yaw %f\n", curr_yaw); |
ryanlin97 | 12:921488918749 | 121 | } |
ryanlin97 | 12:921488918749 | 122 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 123 | } |
ryanlin97 | 12:921488918749 | 124 | |
ryanlin97 | 12:921488918749 | 125 | void Wheelchair::pid_turn(int deg) { |
ryanlin97 | 12:921488918749 | 126 | if(deg > 180) { |
ryanlin97 | 12:921488918749 | 127 | deg -= 360; |
ryanlin97 | 12:921488918749 | 128 | } |
ryanlin97 | 12:921488918749 | 129 | |
ryanlin97 | 12:921488918749 | 130 | else if(deg < -180) { |
ryanlin97 | 12:921488918749 | 131 | deg+=360; |
ryanlin97 | 12:921488918749 | 132 | } |
ryanlin97 | 12:921488918749 | 133 | |
ryanlin97 | 12:921488918749 | 134 | int turnAmt = abs(deg); |
ryanlin97 | 12:921488918749 | 135 | ti->reset(); |
ryanlin97 | 12:921488918749 | 136 | |
ryanlin97 | 12:921488918749 | 137 | if(deg >= 0){ |
ryanlin97 | 12:921488918749 | 138 | Wheelchair::pid_right(turnAmt); |
ryanlin97 | 12:921488918749 | 139 | } |
ryanlin97 | 12:921488918749 | 140 | else { |
ryanlin97 | 12:921488918749 | 141 | Wheelchair::pid_left(turnAmt); |
ryanlin97 | 12:921488918749 | 142 | } |
ryanlin97 | 12:921488918749 | 143 | } |
ryanlin97 | 12:921488918749 | 144 | |
ryanlin97 | 11:d14a1f7f1297 | 145 | double Wheelchair::turn_right(int deg) |
ryanlin97 | 6:0cd57bdd8fbc | 146 | { |
ryanlin97 | 8:381a4ec3fef8 | 147 | bool overturn = false; |
ryanlin97 | 7:5e38d43fbce3 | 148 | out->printf("turning right\n"); |
ryanlin97 | 7:5e38d43fbce3 | 149 | |
ryanlin97 | 11:d14a1f7f1297 | 150 | double start = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 151 | double final = start + deg; |
ryanlin97 | 11:d14a1f7f1297 | 152 | |
ryanlin97 | 11:d14a1f7f1297 | 153 | if(final > 360) { |
ryanlin97 | 11:d14a1f7f1297 | 154 | final -= 360; |
ryanlin97 | 8:381a4ec3fef8 | 155 | overturn = true; |
ryanlin97 | 8:381a4ec3fef8 | 156 | } |
ryanlin97 | 8:381a4ec3fef8 | 157 | |
ryanlin97 | 8:381a4ec3fef8 | 158 | out->printf("start %f, final %f\n", start, final); |
ryanlin97 | 11:d14a1f7f1297 | 159 | |
ryanlin97 | 11:d14a1f7f1297 | 160 | double curr = -1; |
ryanlin97 | 12:921488918749 | 161 | while(curr <= final - 30) { |
ryanlin97 | 8:381a4ec3fef8 | 162 | Wheelchair::right(); |
ryanlin97 | 8:381a4ec3fef8 | 163 | if( out->readable()) { |
ryanlin97 | 8:381a4ec3fef8 | 164 | out->printf("stopped\n"); |
ryanlin97 | 8:381a4ec3fef8 | 165 | Wheelchair::stop(); |
ryanlin97 | 8:381a4ec3fef8 | 166 | return; |
ryanlin97 | 7:5e38d43fbce3 | 167 | } |
ryanlin97 | 11:d14a1f7f1297 | 168 | curr = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 169 | if(overturn && curr > (360 - deg) ) { |
ryanlin97 | 11:d14a1f7f1297 | 170 | curr = 0; |
ryanlin97 | 6:0cd57bdd8fbc | 171 | } |
ryanlin97 | 6:0cd57bdd8fbc | 172 | } |
ryanlin97 | 11:d14a1f7f1297 | 173 | |
ryanlin97 | 11:d14a1f7f1297 | 174 | out->printf("done turning start %f final %f\n", start, final); |
ryanlin97 | 10:e5463c11e0a0 | 175 | Wheelchair::stop(); |
ryanlin97 | 11:d14a1f7f1297 | 176 | |
ryanlin97 | 12:921488918749 | 177 | //delete me |
ryanlin97 | 12:921488918749 | 178 | wait(5); |
ryanlin97 | 12:921488918749 | 179 | |
ryanlin97 | 12:921488918749 | 180 | float correction = final - curr_yaw; |
ryanlin97 | 12:921488918749 | 181 | out->printf("final pos %f actual pos %f\n", final, curr_yaw); |
ryanlin97 | 12:921488918749 | 182 | Wheelchair::turn_left(abs(correction)); |
ryanlin97 | 12:921488918749 | 183 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 184 | |
ryanlin97 | 12:921488918749 | 185 | wait(5); |
ryanlin97 | 12:921488918749 | 186 | out->printf("curr_yaw %f\n", curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 187 | return final; |
ryanlin97 | 6:0cd57bdd8fbc | 188 | } |
ryanlin97 | 6:0cd57bdd8fbc | 189 | |
ryanlin97 | 11:d14a1f7f1297 | 190 | double Wheelchair::turn_left(int deg) |
ryanlin97 | 6:0cd57bdd8fbc | 191 | { |
ryanlin97 | 8:381a4ec3fef8 | 192 | bool overturn = false; |
ryanlin97 | 8:381a4ec3fef8 | 193 | out->printf("turning left\n"); |
ryanlin97 | 8:381a4ec3fef8 | 194 | |
ryanlin97 | 12:921488918749 | 195 | double start = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 196 | double final = start - deg; |
ryanlin97 | 8:381a4ec3fef8 | 197 | |
ryanlin97 | 11:d14a1f7f1297 | 198 | if(final < 0) { |
ryanlin97 | 11:d14a1f7f1297 | 199 | final += 360; |
ryanlin97 | 8:381a4ec3fef8 | 200 | overturn = true; |
ryanlin97 | 8:381a4ec3fef8 | 201 | } |
ryanlin97 | 8:381a4ec3fef8 | 202 | |
ryanlin97 | 11:d14a1f7f1297 | 203 | out->printf("start %f, final %f\n", start, final); |
ryanlin97 | 6:0cd57bdd8fbc | 204 | |
ryanlin97 | 11:d14a1f7f1297 | 205 | double curr = 361; |
ryanlin97 | 11:d14a1f7f1297 | 206 | while(curr >= final) { |
ryanlin97 | 6:0cd57bdd8fbc | 207 | Wheelchair::left(); |
ryanlin97 | 8:381a4ec3fef8 | 208 | if( out->readable()) { |
ryanlin97 | 8:381a4ec3fef8 | 209 | out->printf("stopped\n"); |
ryanlin97 | 8:381a4ec3fef8 | 210 | Wheelchair::stop(); |
ryanlin97 | 8:381a4ec3fef8 | 211 | return; |
ryanlin97 | 8:381a4ec3fef8 | 212 | } |
ryanlin97 | 11:d14a1f7f1297 | 213 | curr = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 214 | |
ryanlin97 | 11:d14a1f7f1297 | 215 | if(overturn && curr >= 0 && curr <= start ) { |
ryanlin97 | 11:d14a1f7f1297 | 216 | curr = 361; |
ryanlin97 | 8:381a4ec3fef8 | 217 | } |
ryanlin97 | 6:0cd57bdd8fbc | 218 | } |
ryanlin97 | 8:381a4ec3fef8 | 219 | |
ryanlin97 | 11:d14a1f7f1297 | 220 | out->printf("done turning start %f final %f\n", start, final); |
ryanlin97 | 10:e5463c11e0a0 | 221 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 222 | |
ryanlin97 | 12:921488918749 | 223 | //delete me |
ryanlin97 | 12:921488918749 | 224 | wait(2); |
ryanlin97 | 12:921488918749 | 225 | /* |
ryanlin97 | 12:921488918749 | 226 | float correction = final - curr_yaw; |
ryanlin97 | 12:921488918749 | 227 | out->printf("final pos %f actual pos %f\n", final, curr_yaw); |
ryanlin97 | 12:921488918749 | 228 | Wheelchair::turn_right(abs(correction)); |
ryanlin97 | 12:921488918749 | 229 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 230 | */ |
ryanlin97 | 11:d14a1f7f1297 | 231 | return final; |
ryanlin97 | 11:d14a1f7f1297 | 232 | } |
ryanlin97 | 11:d14a1f7f1297 | 233 | |
ryanlin97 | 11:d14a1f7f1297 | 234 | void Wheelchair::turn(int deg) |
ryanlin97 | 11:d14a1f7f1297 | 235 | { |
ryanlin97 | 11:d14a1f7f1297 | 236 | if(deg > 180) { |
ryanlin97 | 11:d14a1f7f1297 | 237 | deg -= 360; |
ryanlin97 | 11:d14a1f7f1297 | 238 | } |
ryanlin97 | 11:d14a1f7f1297 | 239 | |
ryanlin97 | 11:d14a1f7f1297 | 240 | else if(deg < -180) { |
ryanlin97 | 11:d14a1f7f1297 | 241 | deg+=360; |
ryanlin97 | 11:d14a1f7f1297 | 242 | } |
ryanlin97 | 11:d14a1f7f1297 | 243 | |
ryanlin97 | 11:d14a1f7f1297 | 244 | double finalpos; |
ryanlin97 | 11:d14a1f7f1297 | 245 | int turnAmt = abs(deg); |
ryanlin97 | 11:d14a1f7f1297 | 246 | //ti->reset(); |
ryanlin97 | 11:d14a1f7f1297 | 247 | /* |
ryanlin97 | 11:d14a1f7f1297 | 248 | if(deg >= 0){ |
ryanlin97 | 11:d14a1f7f1297 | 249 | finalpos = Wheelchair::turn_right(turnAmt); |
ryanlin97 | 11:d14a1f7f1297 | 250 | } |
ryanlin97 | 11:d14a1f7f1297 | 251 | else { |
ryanlin97 | 11:d14a1f7f1297 | 252 | finalpos = Wheelchair::turn_left(turnAmt); |
ryanlin97 | 11:d14a1f7f1297 | 253 | } |
ryanlin97 | 11:d14a1f7f1297 | 254 | */ |
ryanlin97 | 11:d14a1f7f1297 | 255 | wait(2); |
ryanlin97 | 11:d14a1f7f1297 | 256 | |
ryanlin97 | 11:d14a1f7f1297 | 257 | float correction = finalpos - curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 258 | out->printf("final pos %f actual pos %f\n", finalpos, curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 259 | |
ryanlin97 | 11:d14a1f7f1297 | 260 | |
ryanlin97 | 11:d14a1f7f1297 | 261 | //if(abs(correction) > turn_precision) { |
ryanlin97 | 11:d14a1f7f1297 | 262 | out->printf("correcting %f\n", correction); |
ryanlin97 | 11:d14a1f7f1297 | 263 | //ti->reset(); |
ryanlin97 | 11:d14a1f7f1297 | 264 | Wheelchair::turn_left(curr_yaw - finalpos); |
ryanlin97 | 11:d14a1f7f1297 | 265 | return; |
ryanlin97 | 11:d14a1f7f1297 | 266 | //} |
ryanlin97 | 11:d14a1f7f1297 | 267 | |
ryanlin97 | 6:0cd57bdd8fbc | 268 | } |
ryanlin97 | 8:381a4ec3fef8 | 269 | |
ryanlin97 | 12:921488918749 | 270 | float Wheelchair::getDistance() { |
ryanlin97 | 12:921488918749 | 271 | return wheel->getDistance(Diameter); |
ryanlin97 | 12:921488918749 | 272 | } |
ryanlin97 | 12:921488918749 | 273 | |
ryanlin97 | 12:921488918749 | 274 | void Wheelchair::resetDistance(){ |
ryanlin97 | 12:921488918749 | 275 | wheel->reset(); |
ryanlin97 | 12:921488918749 | 276 | } |
ryanlin97 | 10:e5463c11e0a0 | 277 | |
ryanlin97 | 12:921488918749 | 278 |