ryan lin / Mbed OS wheelchaircontrolrealtime

real time control for wheelchair with interupt

Dependencies:   wheelchaircontrol

main.cpp@5:90bf5f0d86e9, 2018-08-13 (annotated)

Committer:
ryanlin97
Date:
Mon Aug 13 21:54:37 2018 +0000
Revision:
5:90bf5f0d86e9
Parent:
0:7e6b349182bc
Child:
6:e9b1684a9c00
small board

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 0:7e6b349182bc 1 #include "wheelchair.h"
ryanlin97 0:7e6b349182bc 2
ryanlin97 0:7e6b349182bc 3 AnalogIn x(A0);
ryanlin97 0:7e6b349182bc 4 AnalogIn y(A1);
ryanlin97 0:7e6b349182bc 5
ryanlin97 0:7e6b349182bc 6 DigitalOut off(D0);
ryanlin97 0:7e6b349182bc 7 DigitalOut on(D1);
ryanlin97 0:7e6b349182bc 8 DigitalOut up(D2);
ryanlin97 0:7e6b349182bc 9 DigitalOut down(D3);
ryanlin97 5:90bf5f0d86e9 10 ]
ryanlin97 0:7e6b349182bc 11 bool manual = false;
ryanlin97 0:7e6b349182bc 12
ryanlin97 0:7e6b349182bc 13 Serial pc(USBTX, USBRX, 57600);
ryanlin97 5:90bf5f0d86e9 14
ryanlin97 0:7e6b349182bc 15 Timer t;
ryanlin97 0:7e6b349182bc 16 EventQueue queue;
ryanlin97 0:7e6b349182bc 17
ryanlin97 0:7e6b349182bc 18 //MPU9250 imu(D14, D15);
ryanlin97 0:7e6b349182bc 19 Wheelchair smart(xDir,yDir, &pc, &t);
ryanlin97 0:7e6b349182bc 20 Thread thread;
ryanlin97 0:7e6b349182bc 21
ryanlin97 5:90bf5f0d86e9 22 void messageCb(const std_msgs::String& command){
ryanlin97 5:90bf5f0d86e9 23 myled = 1; // turn on the led
ryanlin97 5:90bf5f0d86e9 24 commandRead.data = command.data;
ryanlin97 5:90bf5f0d86e9 25 }
ryanlin97 5:90bf5f0d86e9 26
ryanlin97 5:90bf5f0d86e9 27 ros::Subscriber<std_msgs::String> sub("toggle_led", &messageCb);
ryanlin97 5:90bf5f0d86e9 28
ryanlin97 0:7e6b349182bc 29 int main(void)
ryanlin97 0:7e6b349182bc 30 {
ryanlin97 0:7e6b349182bc 31 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread);
ryanlin97 0:7e6b349182bc 32 t.reset();
ryanlin97 0:7e6b349182bc 33 thread.start(callback(&queue, &EventQueue::dispatch_forever));
ryanlin97 0:7e6b349182bc 34 while(1) {
ryanlin97 0:7e6b349182bc 35 if( pc.readable()) {
ryanlin97 0:7e6b349182bc 36 char c = pc.getc();
ryanlin97 0:7e6b349182bc 37
ryanlin97 0:7e6b349182bc 38 if( c == 'w') {
ryanlin97 0:7e6b349182bc 39 pc.printf("up \n");
ryanlin97 0:7e6b349182bc 40 smart.forward();
ryanlin97 0:7e6b349182bc 41 }
ryanlin97 0:7e6b349182bc 42
ryanlin97 0:7e6b349182bc 43 else if( c == 'a') {
ryanlin97 0:7e6b349182bc 44 //pc.printf("left \n");
ryanlin97 0:7e6b349182bc 45 smart.left();
ryanlin97 0:7e6b349182bc 46 }
ryanlin97 0:7e6b349182bc 47
ryanlin97 0:7e6b349182bc 48 else if( c == 'd') {
ryanlin97 0:7e6b349182bc 49 //pc.printf("right \n");
ryanlin97 0:7e6b349182bc 50 smart.right();
ryanlin97 0:7e6b349182bc 51 }
ryanlin97 0:7e6b349182bc 52
ryanlin97 0:7e6b349182bc 53 else if( c == 's') {
ryanlin97 0:7e6b349182bc 54 pc.printf("down \n");
ryanlin97 0:7e6b349182bc 55 smart.backward();
ryanlin97 0:7e6b349182bc 56 }
ryanlin97 0:7e6b349182bc 57
ryanlin97 0:7e6b349182bc 58 else if( c == 'r') {
ryanlin97 0:7e6b349182bc 59 smart.turn_right(90);
ryanlin97 0:7e6b349182bc 60 }
ryanlin97 0:7e6b349182bc 61
ryanlin97 0:7e6b349182bc 62 else if( c == 'l') {
ryanlin97 0:7e6b349182bc 63 smart.turn_left(90);
ryanlin97 0:7e6b349182bc 64 }
ryanlin97 0:7e6b349182bc 65
ryanlin97 0:7e6b349182bc 66 else if( c == 't') {
ryanlin97 0:7e6b349182bc 67 char buffer[256];
ryanlin97 0:7e6b349182bc 68 pc.printf ("Enter a long number: ");
ryanlin97 0:7e6b349182bc 69 fgets (buffer, 256, stdin);
ryanlin97 0:7e6b349182bc 70 int angle = atoi (buffer);
ryanlin97 0:7e6b349182bc 71
ryanlin97 0:7e6b349182bc 72 if(angle == 0) {
ryanlin97 0:7e6b349182bc 73 pc.printf("invalid input try again\n");
ryanlin97 0:7e6b349182bc 74 } else {
ryanlin97 0:7e6b349182bc 75 smart.pid_turn(angle);
ryanlin97 0:7e6b349182bc 76 }
ryanlin97 0:7e6b349182bc 77
ryanlin97 0:7e6b349182bc 78 }
ryanlin97 0:7e6b349182bc 79
ryanlin97 0:7e6b349182bc 80 else if( c == 'm' || manual) {
ryanlin97 0:7e6b349182bc 81 pc.printf("turning on joystick\n");
ryanlin97 0:7e6b349182bc 82 manual = true;
ryanlin97 0:7e6b349182bc 83 t.reset();
ryanlin97 0:7e6b349182bc 84 while(manual) {
ryanlin97 0:7e6b349182bc 85 smart.move(x,y);
ryanlin97 0:7e6b349182bc 86 if( pc.readable()) {
ryanlin97 0:7e6b349182bc 87 char d = pc.getc();
ryanlin97 0:7e6b349182bc 88 if( d == 'm') {
ryanlin97 0:7e6b349182bc 89 pc.printf("turning off joystick\n");
ryanlin97 0:7e6b349182bc 90 manual = false;
ryanlin97 0:7e6b349182bc 91 }
ryanlin97 0:7e6b349182bc 92 }
ryanlin97 0:7e6b349182bc 93 }
ryanlin97 0:7e6b349182bc 94 }
ryanlin97 0:7e6b349182bc 95
ryanlin97 0:7e6b349182bc 96 else {
ryanlin97 0:7e6b349182bc 97 pc.printf("none \n");
ryanlin97 0:7e6b349182bc 98 smart.stop();
ryanlin97 0:7e6b349182bc 99 }
ryanlin97 0:7e6b349182bc 100 }
ryanlin97 0:7e6b349182bc 101
ryanlin97 0:7e6b349182bc 102 else {
ryanlin97 0:7e6b349182bc 103 // pc.printf("Nothing pressed \n");
ryanlin97 0:7e6b349182bc 104 smart.stop();
ryanlin97 0:7e6b349182bc 105 }
ryanlin97 0:7e6b349182bc 106 wait(process);
ryanlin97 0:7e6b349182bc 107 }
ryanlin97 0:7e6b349182bc 108
ryanlin97 0:7e6b349182bc 109 }
ryanlin97 0:7e6b349182bc 110
ryanlin97 5:90bf5f0d86e9 111
ryanlin97 5:90bf5f0d86e9 112
ryanlin97 5:90bf5f0d86e9 113
ryanlin97 5:90bf5f0d86e9 114