File content as of revision 21:69df88af7c46:

#include "wheelchair.h"
Serial qei(D1, D0);

DigitalOut on(D12);
DigitalOut off(D11);
DigitalOut up(D2);
DigitalOut down(D3);

bool manual_drive = false;
double encoder_distance;

double curr_yaw;
double Setpoint, Output, Input;
PID myPID(&curr_yaw, &Output, &Setpoint, 5.5, 0, .0036, P_ON_E, DIRECT);
PID myPIDDistance(&Input, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT);

void Wheelchair::compass_thread() {
     curr_yaw = imu->yaw();
    }
    
double Wheelchair::readEncoder() {
    char input[64] = {0};
    for (int i=0; input[i-1] != '\n'; i++) {
            while (true) {
                //pc.printf("%f\r\n", ti.read());
                if (ti->read() > .02) break;
                if (qei.readable()) {
                    input[i]= qei.getc();
                    break;
                    }
                }
        }
    return atoi(input);
    }
    
Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei )
{
    x = new PwmOut(xPin);
    y = new PwmOut(yPin);
    imu = new chair_BNO055(pc, time);
   
    Wheelchair::stop();
    imu->setup();
    out = pc;
    out->printf("wheelchair setup done \n");
    ti = time;
    wheel = qei;
    myPID.SetMode(AUTOMATIC);
}

/*
* joystick has analog out of 200-700, scale values between 1.3 and 3.3
*/
void Wheelchair::move(float x_coor, float y_coor)
{

    float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
    float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
    
   // lowPass(scaled_x);
    //lowPass(scaled_y);
    
    x->write(scaled_x);
    y->write(scaled_y);
    
    //out->printf("yaw %f\n", imu->yaw());

}

void Wheelchair::forward()
{
    x->write(high);
    y->write(def+offset);
}

void Wheelchair::backward()
{
    x->write(low);
    y->write(def);
}

void Wheelchair::right()
{
    x->write(def);
    y->write(low);
}

void Wheelchair::left()
{
    x->write(def);
    y->write(high);
}

void Wheelchair::stop()
{
    x->write(def);
    y->write(def);
}
// counter clockwise is -
// clockwise is +
void Wheelchair::pid_right(int deg) 
{
    float pid_yaw;
    bool overturn = false;
    
    out->printf("pid right\r\r\n");
    x->write(def);
    Setpoint = curr_yaw + deg;
    pid_yaw = curr_yaw;
    if(Setpoint > 360) {
        overturn = true;
    }
    myPID.SetTunings(5.5,0, 0.00345);
    myPID.SetOutputLimits(0, def - low - .15);
    myPID.SetControllerDirection(DIRECT);
    
    while(pid_yaw < Setpoint - 3){
        if(overturn && curr_yaw < Setpoint-deg-1)
        {
            pid_yaw = curr_yaw + 360;
        }   
        else
            pid_yaw = curr_yaw;
        myPID.Compute();
        double tempor = -Output+def;
        y->write(tempor);
        out->printf("curr_yaw %f\r\r\n", curr_yaw);
        out->printf("Setpoint = %f \r\n", Setpoint);
        wait(.05);
        }
        
    Wheelchair::stop();
    out->printf("done \r\n");
    }
    
void Wheelchair::pid_left(int deg) 
{
    float pid_yaw;
    bool overturn = false;
    
    out->printf("pid Left\r\r\n");
    x->write(def);
    Setpoint = curr_yaw - deg;
    pid_yaw = curr_yaw;
    if(Setpoint < 0) {
        overturn = true;
    }
    
    myPID.SetTunings(5,0, 0.004);
    myPID.SetOutputLimits(0,high - def -.12);
    myPID.SetControllerDirection(REVERSE);
    
    while(pid_yaw > Setpoint + 3){
       myPID.Compute();
       if(overturn && curr_yaw > Setpoint+deg+1)
       {
          pid_yaw = curr_yaw - 360;
        }   
        else
            pid_yaw = curr_yaw;
       double tempor = Output+def;

        y->write(tempor);
        out->printf("curr_yaw %f\r\n", curr_yaw);
        wait(.05);
        }
        Wheelchair::stop();
    }

void Wheelchair::pid_turn(int deg) {
    if(deg > 180) {
        deg -= 360;
    }

    else if(deg < -180) {
        deg+=360;
    }  
    
    int turnAmt = abs(deg);
    ti->reset();

    if(deg >= 0){
        Wheelchair::pid_right(turnAmt);
        }
    else {
        Wheelchair::pid_left(turnAmt);
        }
    }
    
double Wheelchair::turn_right(int deg)
{
    bool overturn = false;
    out->printf("turning right\n");

    double start = curr_yaw;
    double final = start + deg;

    if(final > 360) {
        final -= 360;
        overturn = true;
    }

    out->printf("start %f, final %f\n", start, final);

    double curr = -1;
    while(curr <= final - 30) {
        Wheelchair::right();
        if( out->readable()) {
            out->printf("stopped\n");
            Wheelchair::stop();
            return;
        }
        curr = curr_yaw;
        if(overturn && curr > (360 - deg) ) {
            curr = 0;
        }
    }
    
    out->printf("done turning start %f final %f\n", start, final);
    Wheelchair::stop();
    
     //delete me
    wait(5);
    
    float correction = final - curr_yaw;
    out->printf("final pos %f actual pos %f\n", final, curr_yaw);
    Wheelchair::turn_left(abs(correction));
    Wheelchair::stop();
    
    wait(5);
    out->printf("curr_yaw %f\n", curr_yaw);
    return final;
}

double Wheelchair::turn_left(int deg)
{
    bool overturn = false;
    out->printf("turning left\n");

    double start = curr_yaw;
    double final = start - deg;

    if(final < 0) {
        final += 360;
        overturn = true;
    }

    out->printf("start %f, final %f\n", start, final);

    double curr = 361;
    while(curr >= final) {
        Wheelchair::left();
        if( out->readable()) {
            out->printf("stopped\n");
            Wheelchair::stop();
            return;
        }
        curr = curr_yaw;

        if(overturn && curr >= 0 && curr <= start ) {
            curr = 361;
        }
    }

    out->printf("done turning start %f final %f\n", start, final);
    Wheelchair::stop();
    
   
    return final;
}

void Wheelchair::turn(int deg)
{
    if(deg > 180) {
        deg -= 360;
    }

    else if(deg < -180) {
        deg+=360;
    }  
    
    double finalpos;
    int turnAmt = abs(deg);

    
    float correction = finalpos - curr_yaw;
    out->printf("final pos %f actual pos %f\n", finalpos, curr_yaw);
    
    
    //if(abs(correction) > turn_precision) {
        out->printf("correcting %f\n", correction);
        //ti->reset();
        Wheelchair::turn_left(curr_yaw - finalpos);
        return;
        //} 
    
}

float Wheelchair::getDistance() {
    return wheel->getDistance(Diameter);
    }
    
void Wheelchair::resetDistance(){
    wheel->reset();
    }

void Wheelchair::turn_on() {
    on = 1;
    wait(1);
    on = 0;
    }

void Wheelchair::turn_off() {
    off = 1;
    wait(1);
    off = 0;
    }
    
void Wheelchair::pid_forward(double mm)
{
    y->write(def + offset);
    wheel->reset();
    Input = 0;
    out->printf("pid foward\r\n");

    
    Setpoint = mm-20;

  //  Setpoint = wheel_right.getDistance(37.5)+mm;
    myPIDDistance.SetTunings(5,0, 0.004);
    myPIDDistance.SetOutputLimits(0,high - def - 0.15);
    myPIDDistance.SetControllerDirection(DIRECT);
    
    while(Input < Setpoint-5){//pid_yaw < Setpoint + 2) {
        if(out->readable()){
            Wheelchair::stop();
            break;}
        Input = wheel->getDistance(53.975);
        //out->printf("input foward %d\r\n", wheel->getPulses());
        wait(.05);
        myPIDDistance.Compute();
 
        x->write(Output + def);
        out->printf("distance %f\r\n", Input);
        }

}   

void Wheelchair::desk() {
    Wheelchair::pid_forward(5461);
    Wheelchair::pid_right(87);
    Wheelchair::pid_forward(3658);
    Wheelchair::pid_left(87);
    Wheelchair::pid_forward(3734);
    }

void Wheelchair::kitchen() {
    Wheelchair::pid_forward(5461);
    Wheelchair::pid_right(87);
    Wheelchair::pid_forward(3658);
    Wheelchair::pid_left(87);
    Wheelchair::pid_forward(305);
    }
    
void Wheelchair::back() {
    Wheelchair::pid_right(177);
    Wheelchair::pid_forward(3700);
    }