wheelchair.h

00001 #ifndef wheelchair
00002 #define wheelchair
00003 
00004 #include "chair_BNO055.h"
00005 #include "PID_v1.h"
00006 #include "QEI.h"
00007 #include <ros.h>
00008 #include <geometry_msgs/Twist.h>
00009 #include <std_msgs/String.h>
00010 #include <string>
00011 
00012 #define turn_precision 10
00013 #define def (2.5f/3.3f)
00014 #define high (3.3f-.15f)/3.3f
00015 #define offset .02742f
00016 #define low (1.7f/3.3f)
00017 #define process .1
00018 
00019 /* for big mbed board
00020 #define xDir D12 //top right two pins
00021 #define yDir D13 //top left two pins
00022 #define Encoder1 D0
00023 #define Encoder2 D1
00024 */
00025 
00026 //for small mbed board
00027 #define xDir D9
00028 #define yDir D10
00029 #define Encoder1 D7
00030 #define Encoder2 D8
00031 
00032 #define EncoderReadRate 1200
00033 #define Diameter 31.75
00034 /** Wheelchair class
00035  * Used for controlling the smart wheelchair
00036  */
00037 class Wheelchair
00038 {
00039 public:
00040     /** Create Wheelchair Object with x,y pin for analog dc output
00041      * serial for printout, and timer
00042      */
00043     Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei);
00044     
00045     /** move using the joystick */
00046     void move(float x_coor, float y_coor);
00047     
00048     /* turn right a certain amount of degrees (overshoots)*/
00049     double turn_right(int deg);
00050     
00051     /* turn left a certain amount of degrees (overshoots)*/
00052     double turn_left(int deg);
00053     
00054     /* turn right a certain amount of degrees using PID*/
00055     void pid_right(int deg);
00056     
00057     /* turn left a certain amount of degrees using PID*/
00058     void pid_left(int deg);
00059     
00060     /* turning function that turns any direction */
00061     void turn(int deg);
00062     
00063     /* drive the wheelchair forward */
00064     void forward();
00065     
00066     /* drive the wheelchair backward*/
00067     void backward();
00068     
00069     /* turn the wheelchair right*/
00070     void right();
00071     
00072     /* turn the wheelchair left*/
00073     void left();
00074     
00075     /* stop the wheelchair*/
00076     void stop();
00077     
00078     /* function to get imu data*/
00079     void compass_thread();
00080     float getDistance();
00081     void resetDistance();
00082     void pid_turn(int deg);
00083     void turn_on();
00084     void turn_off();   
00085     void pid_forward(double mm);
00086     void kitchen();
00087     void desk();
00088     void follow();
00089     void back();
00090      
00091 private:
00092     double readEncoder();
00093     PwmOut* x;
00094     PwmOut* y;
00095     chair_BNO055* imu;
00096     Serial* out;
00097     Timer* ti;
00098     QEI* wheel;
00099     
00100 
00101 };
00102 #endif