for ros
Dependencies: QEI chair_BNO055 pid ros_lib_kinetic
Dependents: wheelchaircontrolrealtimeROS
Fork of wheelchaircontrol by
wheelchair.cpp@17:93a636b16b9e, 2018-08-24 (annotated)
- Committer:
- ryanlin97
- Date:
- Fri Aug 24 22:41:55 2018 +0000
- Revision:
- 17:93a636b16b9e
- Parent:
- 16:53d912c86c7f
- Child:
- 18:3eadf01ec1b0
for pid turns
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 | 17:93a636b16b9e | 8 | PID myPID(&curr_yaw, &Output, &Setpoint, 5.5, 0, .0036, P_ON_E, 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 | 17:93a636b16b9e | 81 | float pid_yaw; |
ryanlin97 | 12:921488918749 | 82 | bool overturn = false; |
ryanlin97 | 12:921488918749 | 83 | |
ryanlin97 | 17:93a636b16b9e | 84 | out->printf("pid right\r\r\n"); |
ryanlin97 | 12:921488918749 | 85 | x->write(def); |
ryanlin97 | 12:921488918749 | 86 | Setpoint = curr_yaw + deg; |
ryanlin97 | 17:93a636b16b9e | 87 | pid_yaw = curr_yaw; |
ryanlin97 | 12:921488918749 | 88 | if(Setpoint > 360) { |
ryanlin97 | 17:93a636b16b9e | 89 | // Setpoint -= 360; |
ryanlin97 | 12:921488918749 | 90 | overturn = true; |
ryanlin97 | 12:921488918749 | 91 | } |
ryanlin97 | 17:93a636b16b9e | 92 | myPID.SetTunings(5.5,0, 0.00345); |
ryanlin97 | 16:53d912c86c7f | 93 | myPID.SetOutputLimits(0, def-low); |
ryanlin97 | 12:921488918749 | 94 | myPID.SetControllerDirection(REVERSE); |
ryanlin97 | 17:93a636b16b9e | 95 | while(pid_yaw < Setpoint - 3){//curr_yaw <= Setpoint) { |
ryanlin97 | 17:93a636b16b9e | 96 | if(overturn && curr_yaw < Setpoint-deg-1) |
ryanlin97 | 17:93a636b16b9e | 97 | { |
ryanlin97 | 17:93a636b16b9e | 98 | pid_yaw = curr_yaw + 360; |
ryanlin97 | 17:93a636b16b9e | 99 | } |
ryanlin97 | 17:93a636b16b9e | 100 | else |
ryanlin97 | 17:93a636b16b9e | 101 | pid_yaw = curr_yaw; |
ryanlin97 | 16:53d912c86c7f | 102 | myPID.Compute(); |
ryanlin97 | 17:93a636b16b9e | 103 | double tempor = Output+low; |
ryanlin97 | 17:93a636b16b9e | 104 | y->write(tempor); |
ryanlin97 | 17:93a636b16b9e | 105 | out->printf("curr_yaw %f\r\r\n", curr_yaw); |
ryanlin97 | 17:93a636b16b9e | 106 | out->printf("Setpoint = %f \r\n", Setpoint); |
ryanlin97 | 17:93a636b16b9e | 107 | |
ryanlin97 | 17:93a636b16b9e | 108 | wait(.05); |
ryanlin97 | 12:921488918749 | 109 | } |
ryanlin97 | 12:921488918749 | 110 | Wheelchair::stop(); |
ryanlin97 | 17:93a636b16b9e | 111 | out->printf("done \r\n"); |
ryanlin97 | 12:921488918749 | 112 | } |
ryanlin97 | 12:921488918749 | 113 | void Wheelchair::pid_left(int deg) |
ryanlin97 | 12:921488918749 | 114 | { |
ryanlin97 | 17:93a636b16b9e | 115 | float pid_yaw; |
ryanlin97 | 12:921488918749 | 116 | bool overturn = false; |
ryanlin97 | 12:921488918749 | 117 | |
ryanlin97 | 17:93a636b16b9e | 118 | out->printf("pid Left\r\r\n"); |
ryanlin97 | 12:921488918749 | 119 | x->write(def); |
ryanlin97 | 12:921488918749 | 120 | Setpoint = curr_yaw - deg; |
ryanlin97 | 17:93a636b16b9e | 121 | pid_yaw = curr_yaw; |
ryanlin97 | 12:921488918749 | 122 | if(Setpoint < 0) { |
ryanlin97 | 17:93a636b16b9e | 123 | // Setpoint += 360; |
ryanlin97 | 12:921488918749 | 124 | overturn = true; |
ryanlin97 | 12:921488918749 | 125 | } |
ryanlin97 | 17:93a636b16b9e | 126 | myPID.SetTunings(5,0, 0.004); |
ryanlin97 | 17:93a636b16b9e | 127 | myPID.SetOutputLimits(0,high-def); |
ryanlin97 | 17:93a636b16b9e | 128 | myPID.SetControllerDirection(REVERSE); |
ryanlin97 | 17:93a636b16b9e | 129 | while(pid_yaw > Setpoint + 3){//pid_yaw < Setpoint + 2) { |
ryanlin97 | 17:93a636b16b9e | 130 | myPID.Compute(); |
ryanlin97 | 17:93a636b16b9e | 131 | if(overturn && curr_yaw > Setpoint+deg+1) |
ryanlin97 | 17:93a636b16b9e | 132 | { |
ryanlin97 | 17:93a636b16b9e | 133 | pid_yaw = curr_yaw - 360; |
ryanlin97 | 17:93a636b16b9e | 134 | } |
ryanlin97 | 17:93a636b16b9e | 135 | else |
ryanlin97 | 17:93a636b16b9e | 136 | pid_yaw = curr_yaw; |
ryanlin97 | 17:93a636b16b9e | 137 | double tempor = Output+def; |
ryanlin97 | 17:93a636b16b9e | 138 | |
ryanlin97 | 17:93a636b16b9e | 139 | y->write(tempor); |
ryanlin97 | 17:93a636b16b9e | 140 | out->printf("curr_yaw %f\r\n", curr_yaw); |
ryanlin97 | 17:93a636b16b9e | 141 | wait(.05); |
ryanlin97 | 12:921488918749 | 142 | } |
ryanlin97 | 17:93a636b16b9e | 143 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 144 | } |
ryanlin97 | 12:921488918749 | 145 | |
ryanlin97 | 12:921488918749 | 146 | void Wheelchair::pid_turn(int deg) { |
ryanlin97 | 12:921488918749 | 147 | if(deg > 180) { |
ryanlin97 | 12:921488918749 | 148 | deg -= 360; |
ryanlin97 | 12:921488918749 | 149 | } |
ryanlin97 | 12:921488918749 | 150 | |
ryanlin97 | 12:921488918749 | 151 | else if(deg < -180) { |
ryanlin97 | 12:921488918749 | 152 | deg+=360; |
ryanlin97 | 12:921488918749 | 153 | } |
ryanlin97 | 12:921488918749 | 154 | |
ryanlin97 | 12:921488918749 | 155 | int turnAmt = abs(deg); |
ryanlin97 | 12:921488918749 | 156 | ti->reset(); |
ryanlin97 | 12:921488918749 | 157 | |
ryanlin97 | 12:921488918749 | 158 | if(deg >= 0){ |
ryanlin97 | 12:921488918749 | 159 | Wheelchair::pid_right(turnAmt); |
ryanlin97 | 12:921488918749 | 160 | } |
ryanlin97 | 12:921488918749 | 161 | else { |
ryanlin97 | 12:921488918749 | 162 | Wheelchair::pid_left(turnAmt); |
ryanlin97 | 12:921488918749 | 163 | } |
ryanlin97 | 12:921488918749 | 164 | } |
ryanlin97 | 12:921488918749 | 165 | |
ryanlin97 | 11:d14a1f7f1297 | 166 | double Wheelchair::turn_right(int deg) |
ryanlin97 | 6:0cd57bdd8fbc | 167 | { |
ryanlin97 | 8:381a4ec3fef8 | 168 | bool overturn = false; |
ryanlin97 | 7:5e38d43fbce3 | 169 | out->printf("turning right\n"); |
ryanlin97 | 7:5e38d43fbce3 | 170 | |
ryanlin97 | 11:d14a1f7f1297 | 171 | double start = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 172 | double final = start + deg; |
ryanlin97 | 11:d14a1f7f1297 | 173 | |
ryanlin97 | 11:d14a1f7f1297 | 174 | if(final > 360) { |
ryanlin97 | 11:d14a1f7f1297 | 175 | final -= 360; |
ryanlin97 | 8:381a4ec3fef8 | 176 | overturn = true; |
ryanlin97 | 8:381a4ec3fef8 | 177 | } |
ryanlin97 | 8:381a4ec3fef8 | 178 | |
ryanlin97 | 8:381a4ec3fef8 | 179 | out->printf("start %f, final %f\n", start, final); |
ryanlin97 | 11:d14a1f7f1297 | 180 | |
ryanlin97 | 11:d14a1f7f1297 | 181 | double curr = -1; |
ryanlin97 | 12:921488918749 | 182 | while(curr <= final - 30) { |
ryanlin97 | 8:381a4ec3fef8 | 183 | Wheelchair::right(); |
ryanlin97 | 8:381a4ec3fef8 | 184 | if( out->readable()) { |
ryanlin97 | 8:381a4ec3fef8 | 185 | out->printf("stopped\n"); |
ryanlin97 | 8:381a4ec3fef8 | 186 | Wheelchair::stop(); |
ryanlin97 | 8:381a4ec3fef8 | 187 | return; |
ryanlin97 | 7:5e38d43fbce3 | 188 | } |
ryanlin97 | 11:d14a1f7f1297 | 189 | curr = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 190 | if(overturn && curr > (360 - deg) ) { |
ryanlin97 | 11:d14a1f7f1297 | 191 | curr = 0; |
ryanlin97 | 6:0cd57bdd8fbc | 192 | } |
ryanlin97 | 6:0cd57bdd8fbc | 193 | } |
ryanlin97 | 11:d14a1f7f1297 | 194 | |
ryanlin97 | 11:d14a1f7f1297 | 195 | out->printf("done turning start %f final %f\n", start, final); |
ryanlin97 | 10:e5463c11e0a0 | 196 | Wheelchair::stop(); |
ryanlin97 | 11:d14a1f7f1297 | 197 | |
ryanlin97 | 12:921488918749 | 198 | //delete me |
ryanlin97 | 12:921488918749 | 199 | wait(5); |
ryanlin97 | 12:921488918749 | 200 | |
ryanlin97 | 12:921488918749 | 201 | float correction = final - curr_yaw; |
ryanlin97 | 12:921488918749 | 202 | out->printf("final pos %f actual pos %f\n", final, curr_yaw); |
ryanlin97 | 12:921488918749 | 203 | Wheelchair::turn_left(abs(correction)); |
ryanlin97 | 12:921488918749 | 204 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 205 | |
ryanlin97 | 12:921488918749 | 206 | wait(5); |
ryanlin97 | 12:921488918749 | 207 | out->printf("curr_yaw %f\n", curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 208 | return final; |
ryanlin97 | 6:0cd57bdd8fbc | 209 | } |
ryanlin97 | 6:0cd57bdd8fbc | 210 | |
ryanlin97 | 11:d14a1f7f1297 | 211 | double Wheelchair::turn_left(int deg) |
ryanlin97 | 6:0cd57bdd8fbc | 212 | { |
ryanlin97 | 8:381a4ec3fef8 | 213 | bool overturn = false; |
ryanlin97 | 8:381a4ec3fef8 | 214 | out->printf("turning left\n"); |
ryanlin97 | 8:381a4ec3fef8 | 215 | |
ryanlin97 | 12:921488918749 | 216 | double start = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 217 | double final = start - deg; |
ryanlin97 | 8:381a4ec3fef8 | 218 | |
ryanlin97 | 11:d14a1f7f1297 | 219 | if(final < 0) { |
ryanlin97 | 11:d14a1f7f1297 | 220 | final += 360; |
ryanlin97 | 8:381a4ec3fef8 | 221 | overturn = true; |
ryanlin97 | 8:381a4ec3fef8 | 222 | } |
ryanlin97 | 8:381a4ec3fef8 | 223 | |
ryanlin97 | 11:d14a1f7f1297 | 224 | out->printf("start %f, final %f\n", start, final); |
ryanlin97 | 6:0cd57bdd8fbc | 225 | |
ryanlin97 | 11:d14a1f7f1297 | 226 | double curr = 361; |
ryanlin97 | 11:d14a1f7f1297 | 227 | while(curr >= final) { |
ryanlin97 | 6:0cd57bdd8fbc | 228 | Wheelchair::left(); |
ryanlin97 | 8:381a4ec3fef8 | 229 | if( out->readable()) { |
ryanlin97 | 8:381a4ec3fef8 | 230 | out->printf("stopped\n"); |
ryanlin97 | 8:381a4ec3fef8 | 231 | Wheelchair::stop(); |
ryanlin97 | 8:381a4ec3fef8 | 232 | return; |
ryanlin97 | 8:381a4ec3fef8 | 233 | } |
ryanlin97 | 11:d14a1f7f1297 | 234 | curr = curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 235 | |
ryanlin97 | 11:d14a1f7f1297 | 236 | if(overturn && curr >= 0 && curr <= start ) { |
ryanlin97 | 11:d14a1f7f1297 | 237 | curr = 361; |
ryanlin97 | 8:381a4ec3fef8 | 238 | } |
ryanlin97 | 6:0cd57bdd8fbc | 239 | } |
ryanlin97 | 8:381a4ec3fef8 | 240 | |
ryanlin97 | 11:d14a1f7f1297 | 241 | out->printf("done turning start %f final %f\n", start, final); |
ryanlin97 | 10:e5463c11e0a0 | 242 | Wheelchair::stop(); |
ryanlin97 | 12:921488918749 | 243 | |
ryanlin97 | 17:93a636b16b9e | 244 | |
ryanlin97 | 11:d14a1f7f1297 | 245 | return final; |
ryanlin97 | 11:d14a1f7f1297 | 246 | } |
ryanlin97 | 11:d14a1f7f1297 | 247 | |
ryanlin97 | 11:d14a1f7f1297 | 248 | void Wheelchair::turn(int deg) |
ryanlin97 | 11:d14a1f7f1297 | 249 | { |
ryanlin97 | 11:d14a1f7f1297 | 250 | if(deg > 180) { |
ryanlin97 | 11:d14a1f7f1297 | 251 | deg -= 360; |
ryanlin97 | 11:d14a1f7f1297 | 252 | } |
ryanlin97 | 11:d14a1f7f1297 | 253 | |
ryanlin97 | 11:d14a1f7f1297 | 254 | else if(deg < -180) { |
ryanlin97 | 11:d14a1f7f1297 | 255 | deg+=360; |
ryanlin97 | 11:d14a1f7f1297 | 256 | } |
ryanlin97 | 11:d14a1f7f1297 | 257 | |
ryanlin97 | 11:d14a1f7f1297 | 258 | double finalpos; |
ryanlin97 | 11:d14a1f7f1297 | 259 | int turnAmt = abs(deg); |
ryanlin97 | 17:93a636b16b9e | 260 | |
ryanlin97 | 11:d14a1f7f1297 | 261 | |
ryanlin97 | 11:d14a1f7f1297 | 262 | float correction = finalpos - curr_yaw; |
ryanlin97 | 11:d14a1f7f1297 | 263 | out->printf("final pos %f actual pos %f\n", finalpos, curr_yaw); |
ryanlin97 | 11:d14a1f7f1297 | 264 | |
ryanlin97 | 11:d14a1f7f1297 | 265 | |
ryanlin97 | 11:d14a1f7f1297 | 266 | //if(abs(correction) > turn_precision) { |
ryanlin97 | 11:d14a1f7f1297 | 267 | out->printf("correcting %f\n", correction); |
ryanlin97 | 11:d14a1f7f1297 | 268 | //ti->reset(); |
ryanlin97 | 11:d14a1f7f1297 | 269 | Wheelchair::turn_left(curr_yaw - finalpos); |
ryanlin97 | 11:d14a1f7f1297 | 270 | return; |
ryanlin97 | 11:d14a1f7f1297 | 271 | //} |
ryanlin97 | 11:d14a1f7f1297 | 272 | |
ryanlin97 | 6:0cd57bdd8fbc | 273 | } |
ryanlin97 | 8:381a4ec3fef8 | 274 | |
ryanlin97 | 12:921488918749 | 275 | float Wheelchair::getDistance() { |
ryanlin97 | 12:921488918749 | 276 | return wheel->getDistance(Diameter); |
ryanlin97 | 12:921488918749 | 277 | } |
ryanlin97 | 12:921488918749 | 278 | |
ryanlin97 | 12:921488918749 | 279 | void Wheelchair::resetDistance(){ |
ryanlin97 | 12:921488918749 | 280 | wheel->reset(); |
ryanlin97 | 12:921488918749 | 281 | } |
ryanlin97 | 10:e5463c11e0a0 | 282 | |
ryanlin97 | 12:921488918749 | 283 |