ryan lin / wheelchaircontrolRos

for ros

Dependencies:   QEI chair_BNO055 pid ros_lib_kinetic

Dependents:   wheelchaircontrolrealtimeROS

Fork of wheelchaircontrol by ryan lin

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?

UserRevisionLine numberNew 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