ryan lin / Mbed OS wheelchaircontrolrealtimeROS

for ros integration

Dependencies:   wheelchaircontrolRos

Fork of wheelchaircontrolrealtime by ryan lin

main.cpp@6:b8a1fa98707e, 2018-08-15 (annotated)

Committer:
ryanlin97
Date:
Wed Aug 15 17:05:59 2018 +0000
Revision:
6:b8a1fa98707e
Parent:
5:186967c92ef5
Child:
7:cead0e7b0c1e
turning on and off;

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 0:7e6b349182bc 10
ryanlin97 3:ef063fd4234e 11 char c;
ryanlin97 0:7e6b349182bc 12 bool manual = false;
ryanlin97 3:ef063fd4234e 13 bool received = false;
ryanlin97 3:ef063fd4234e 14 Serial pc(USBTX, USBRX, 57600);
ryanlin97 0:7e6b349182bc 15
ryanlin97 0:7e6b349182bc 16 Timer t;
ryanlin97 0:7e6b349182bc 17 EventQueue queue;
ryanlin97 0:7e6b349182bc 18
ryanlin97 0:7e6b349182bc 19 //MPU9250 imu(D14, D15);
ryanlin97 0:7e6b349182bc 20 Wheelchair smart(xDir,yDir, &pc, &t);
ryanlin97 0:7e6b349182bc 21 Thread thread;
ryanlin97 0:7e6b349182bc 22
ryanlin97 3:ef063fd4234e 23 ros::NodeHandle nh;
ryanlin97 3:ef063fd4234e 24 geometry_msgs::Twist commandRead;
ryanlin97 3:ef063fd4234e 25 ros::Publisher chatter("chatter", &commandRead);
ryanlin97 3:ef063fd4234e 26
ryanlin97 3:ef063fd4234e 27 void handlerFunction(const geometry_msgs::Twist& command)
ryanlin97 3:ef063fd4234e 28 {
ryanlin97 3:ef063fd4234e 29 if(command.linear.x >0) {
ryanlin97 4:db3aa99ab312 30 c = 'w';
ryanlin97 6:b8a1fa98707e 31 }
ryanlin97 3:ef063fd4234e 32 received = true;
ryanlin97 3:ef063fd4234e 33 }
ryanlin97 3:ef063fd4234e 34
ryanlin97 3:ef063fd4234e 35 ros::Subscriber<geometry_msgs::Twist> sub("cmd_vel", &handlerFunction);
ryanlin97 3:ef063fd4234e 36
ryanlin97 3:ef063fd4234e 37
ryanlin97 3:ef063fd4234e 38 void setupNode()
ryanlin97 3:ef063fd4234e 39 {
ryanlin97 3:ef063fd4234e 40 nh.initNode();
ryanlin97 3:ef063fd4234e 41 nh.subscribe(sub);
ryanlin97 3:ef063fd4234e 42 nh.advertise(chatter);
ryanlin97 3:ef063fd4234e 43 }
ryanlin97 3:ef063fd4234e 44
ryanlin97 0:7e6b349182bc 45 int main(void)
ryanlin97 0:7e6b349182bc 46 {
ryanlin97 6:b8a1fa98707e 47 on = 0;
ryanlin97 6:b8a1fa98707e 48 off = 0;
ryanlin97 6:b8a1fa98707e 49
ryanlin97 0:7e6b349182bc 50 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread);
ryanlin97 0:7e6b349182bc 51 t.reset();
ryanlin97 0:7e6b349182bc 52 thread.start(callback(&queue, &EventQueue::dispatch_forever));
ryanlin97 3:ef063fd4234e 53 setupNode();
ryanlin97 6:b8a1fa98707e 54 while(1) {
ryanlin97 5:186967c92ef5 55 if( received) {
ryanlin97 0:7e6b349182bc 56
ryanlin97 5:186967c92ef5 57 if( c == 'w') {
ryanlin97 5:186967c92ef5 58 pc.printf("up \n");
ryanlin97 5:186967c92ef5 59 smart.forward();
ryanlin97 5:186967c92ef5 60 }
ryanlin97 0:7e6b349182bc 61
ryanlin97 5:186967c92ef5 62 else if( c == 'a') {
ryanlin97 5:186967c92ef5 63 //pc.printf("left \n");
ryanlin97 5:186967c92ef5 64 smart.left();
ryanlin97 5:186967c92ef5 65 }
ryanlin97 0:7e6b349182bc 66
ryanlin97 5:186967c92ef5 67 else if( c == 'd') {
ryanlin97 5:186967c92ef5 68 //pc.printf("right \n");
ryanlin97 5:186967c92ef5 69 smart.right();
ryanlin97 5:186967c92ef5 70 }
ryanlin97 0:7e6b349182bc 71
ryanlin97 5:186967c92ef5 72 else if( c == 's') {
ryanlin97 5:186967c92ef5 73 pc.printf("down \n");
ryanlin97 5:186967c92ef5 74 smart.backward();
ryanlin97 5:186967c92ef5 75 }
ryanlin97 0:7e6b349182bc 76
ryanlin97 5:186967c92ef5 77 else if( c == 'r') {
ryanlin97 5:186967c92ef5 78 smart.turn_right(90);
ryanlin97 5:186967c92ef5 79 }
ryanlin97 0:7e6b349182bc 80
ryanlin97 5:186967c92ef5 81 else if( c == 'l') {
ryanlin97 5:186967c92ef5 82 smart.turn_left(90);
ryanlin97 0:7e6b349182bc 83 }
ryanlin97 0:7e6b349182bc 84
ryanlin97 5:186967c92ef5 85 else if( c == 't') {
ryanlin97 5:186967c92ef5 86 char buffer[256];
ryanlin97 5:186967c92ef5 87 pc.printf ("Enter a long number: ");
ryanlin97 5:186967c92ef5 88 fgets (buffer, 256, stdin);
ryanlin97 5:186967c92ef5 89 int angle = atoi (buffer);
ryanlin97 5:186967c92ef5 90
ryanlin97 5:186967c92ef5 91 if(angle == 0) {
ryanlin97 5:186967c92ef5 92 pc.printf("invalid input try again\n");
ryanlin97 5:186967c92ef5 93 } else {
ryanlin97 5:186967c92ef5 94 smart.pid_turn(angle);
ryanlin97 5:186967c92ef5 95 }
ryanlin97 0:7e6b349182bc 96
ryanlin97 6:b8a1fa98707e 97 } else if(c == 'o') {
ryanlin97 6:b8a1fa98707e 98 pc.printf("turning on\n");
ryanlin97 6:b8a1fa98707e 99 on = 1;
ryanlin97 6:b8a1fa98707e 100 wait(1);
ryanlin97 6:b8a1fa98707e 101 on = 0;
ryanlin97 6:b8a1fa98707e 102 } else if(c == 'f') {
ryanlin97 6:b8a1fa98707e 103 pc.printf("turning off\n");
ryanlin97 6:b8a1fa98707e 104 off = 1;
ryanlin97 6:b8a1fa98707e 105 wait(1);
ryanlin97 6:b8a1fa98707e 106 off = 0;
ryanlin97 5:186967c92ef5 107 }
ryanlin97 5:186967c92ef5 108
ryanlin97 5:186967c92ef5 109 else if( c == 'm' || manual) {
ryanlin97 5:186967c92ef5 110 pc.printf("turning on joystick\n");
ryanlin97 5:186967c92ef5 111 manual = true;
ryanlin97 5:186967c92ef5 112 t.reset();
ryanlin97 5:186967c92ef5 113 while(manual) {
ryanlin97 5:186967c92ef5 114 smart.move(x,y);
ryanlin97 5:186967c92ef5 115 if( pc.readable()) {
ryanlin97 5:186967c92ef5 116 char d = pc.getc();
ryanlin97 5:186967c92ef5 117 if( d == 'm') {
ryanlin97 5:186967c92ef5 118 pc.printf("turning off joystick\n");
ryanlin97 5:186967c92ef5 119 manual = false;
ryanlin97 5:186967c92ef5 120 }
ryanlin97 0:7e6b349182bc 121 }
ryanlin97 0:7e6b349182bc 122 }
ryanlin97 0:7e6b349182bc 123 }
ryanlin97 5:186967c92ef5 124
ryanlin97 5:186967c92ef5 125 else {
ryanlin97 5:186967c92ef5 126 pc.printf("none \n");
ryanlin97 5:186967c92ef5 127 smart.stop();
ryanlin97 5:186967c92ef5 128 }
ryanlin97 0:7e6b349182bc 129 }
ryanlin97 0:7e6b349182bc 130
ryanlin97 0:7e6b349182bc 131 else {
ryanlin97 5:186967c92ef5 132 // pc.printf("Nothing pressed \n");
ryanlin97 0:7e6b349182bc 133 smart.stop();
ryanlin97 0:7e6b349182bc 134 }
ryanlin97 0:7e6b349182bc 135 wait(process);
ryanlin97 0:7e6b349182bc 136 }
ryanlin97 0:7e6b349182bc 137
ryanlin97 0:7e6b349182bc 138 }
ryanlin97 0:7e6b349182bc 139
ryanlin97 3:ef063fd4234e 140
ryanlin97 3:ef063fd4234e 141
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ryanlin97 3:ef063fd4234e 146