![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
for ros integration
Dependencies: wheelchaircontrolRos
Fork of wheelchaircontrolrealtime by
main.cpp
- Committer:
- ryanlin97
- Date:
- 2018-08-31
- Revision:
- 11:2cb176f5b345
- Parent:
- 9:90bc440405b6
File content as of revision 11:2cb176f5b345:
#include "wheelchair.h" AnalogIn x(A0); AnalogIn y(A1); /* DigitalOut on(D12); DigitalOut off(D11); DigitalOut up(D2); DigitalOut down(D3);*/ Serial pc(USBTX, USBRX, 57600); Timer t; Thread thread; EventQueue queue; QEI wheel(D0, D1, NC, 1200); DigitalIn pt3(D1, PullUp); DigitalIn pt4(D0, PullUp); Wheelchair smart(xDir,yDir, &pc, &t, &wheel); char c; bool manual = false; ros::NodeHandle nh; //geometry_msgs::Twist commandRead; std_msgs::String commandRead; ros::Publisher chatter("chatter", &commandRead); volatile bool received = false; void handlerFunction(const std_msgs::String& commandIn) { commandRead = commandIn; received = true; } ros::Subscriber<std_msgs::String> sub("cmd_vel", &handlerFunction); void setupNode() { nh.initNode(); nh.subscribe(sub); nh.advertise(chatter); char initialVal[2] = "z"; commandRead.data = initialVal; } int main(void) { queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); t.reset(); thread.start(callback(&queue, &EventQueue::dispatch_forever)); setupNode(); while(1) { if( received) { c = commandRead.data[0]; if( c == 'w') { pc.printf("up \n"); smart.forward(); } else if( c == 'a') { //pc.printf("left \n"); smart.left(); } else if( c == 'd') { //pc.printf("right \n"); smart.right(); } else if( c == 's') { pc.printf("down \n"); smart.backward(); } else if( c == 'r') { smart.pid_right(90); c = 'z'; } else if( c == 'l') { smart.pid_left(90); c = 'z'; } else if( c == 't') { char buffer[256]; pc.printf ("Enter a long number: "); fgets (buffer, 256, stdin); int angle = atoi (buffer); if(angle == 0) { pc.printf("invalid input try again\n"); } else { smart.pid_turn(angle); } } else if(c == 'o') { pc.printf("turning on\n"); char* temp = "turning on"; commandRead.data = temp; chatter.publish(&commandRead); /*on = 1; wait(1); on = 0;*/ smart.turn_on(); c = 'z'; } else if(c == 'f') { pc.printf("turning off\n"); /*off = 1; wait(1); off = 0;*/ smart.turn_off(); c = 'z'; } else if( c == 'm' || manual) { pc.printf("turning on joystick\n"); manual = true; t.reset(); received = false; while(manual) { smart.move(x,y); if(received) { char d = commandRead.data[0]; if( d == 'u') { pc.printf("turning off joystick\n"); manual = false; } received = false; } } } else if( c == 'k') { smart.kitchen(); c = 'z'; } else if( c == 'i') { smart.desk(); } else if( c == 'c') { smart.back(); } else { pc.printf("none \n"); smart.stop(); } received = false; } else { // pc.printf("Nothing pressed \n"); smart.stop(); } nh.spinOnce(); wait(process); } }