ryan lin / Mbed OS wheelchaircontrolrealtimeROS

for ros integration

Dependencies:   wheelchaircontrolRos

Fork of wheelchaircontrolrealtime by ryan lin

main.cpp@7:cead0e7b0c1e, 2018-08-27 (annotated)

Committer:
ryanlin97
Date:
Mon Aug 27 04:48:25 2018 +0000
Revision:
7:cead0e7b0c1e
Parent:
6:b8a1fa98707e
Child:
8:347b10e6bdf8
updated for ros and alexa

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 7:cead0e7b0c1e 6 DigitalOut on(D12);
ryanlin97 7:cead0e7b0c1e 7 DigitalOut off(D11);
ryanlin97 0:7e6b349182bc 8 DigitalOut up(D2);
ryanlin97 0:7e6b349182bc 9 DigitalOut down(D3);
ryanlin97 0:7e6b349182bc 10
ryanlin97 7:cead0e7b0c1e 11 Serial pc(USBTX, USBRX, 57600);
ryanlin97 7:cead0e7b0c1e 12 Timer t;
ryanlin97 7:cead0e7b0c1e 13 Thread thread;
ryanlin97 7:cead0e7b0c1e 14 EventQueue queue;
ryanlin97 7:cead0e7b0c1e 15 Wheelchair smart(xDir,yDir, &pc, &t);
ryanlin97 7:cead0e7b0c1e 16
ryanlin97 3:ef063fd4234e 17 char c;
ryanlin97 0:7e6b349182bc 18 bool manual = false;
ryanlin97 0:7e6b349182bc 19
ryanlin97 3:ef063fd4234e 20 ros::NodeHandle nh;
ryanlin97 7:cead0e7b0c1e 21 //geometry_msgs::Twist commandRead;
ryanlin97 7:cead0e7b0c1e 22 std_msgs::String commandRead;
ryanlin97 7:cead0e7b0c1e 23 std_msgs::String out;
ryanlin97 3:ef063fd4234e 24
ryanlin97 7:cead0e7b0c1e 25 ros::Publisher chatter("chatter", &commandRead);
ryanlin97 7:cead0e7b0c1e 26 bool received = false;
ryanlin97 7:cead0e7b0c1e 27
ryanlin97 7:cead0e7b0c1e 28 void handlerFunction(const std_msgs::String& commandIn)
ryanlin97 3:ef063fd4234e 29 {
ryanlin97 7:cead0e7b0c1e 30 commandRead = commandIn;
ryanlin97 3:ef063fd4234e 31 received = true;
ryanlin97 3:ef063fd4234e 32 }
ryanlin97 3:ef063fd4234e 33
ryanlin97 7:cead0e7b0c1e 34 ros::Subscriber<std_msgs::String> sub("cmd_vel", &handlerFunction);
ryanlin97 3:ef063fd4234e 35
ryanlin97 3:ef063fd4234e 36
ryanlin97 3:ef063fd4234e 37 void setupNode()
ryanlin97 3:ef063fd4234e 38 {
ryanlin97 3:ef063fd4234e 39 nh.initNode();
ryanlin97 3:ef063fd4234e 40 nh.subscribe(sub);
ryanlin97 3:ef063fd4234e 41 nh.advertise(chatter);
ryanlin97 7:cead0e7b0c1e 42 char initialVal[2] = "z";
ryanlin97 7:cead0e7b0c1e 43 commandRead.data = initialVal;
ryanlin97 3:ef063fd4234e 44 }
ryanlin97 3:ef063fd4234e 45
ryanlin97 0:7e6b349182bc 46 int main(void)
ryanlin97 0:7e6b349182bc 47 {
ryanlin97 6:b8a1fa98707e 48
ryanlin97 0:7e6b349182bc 49 queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread);
ryanlin97 0:7e6b349182bc 50 t.reset();
ryanlin97 0:7e6b349182bc 51 thread.start(callback(&queue, &EventQueue::dispatch_forever));
ryanlin97 3:ef063fd4234e 52 setupNode();
ryanlin97 7:cead0e7b0c1e 53
ryanlin97 6:b8a1fa98707e 54 while(1) {
ryanlin97 5:186967c92ef5 55 if( received) {
ryanlin97 7:cead0e7b0c1e 56 c = commandRead.data[0];
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 7:cead0e7b0c1e 78 smart.pid_right(90);
ryanlin97 5:186967c92ef5 79 }
ryanlin97 0:7e6b349182bc 80
ryanlin97 5:186967c92ef5 81 else if( c == 'l') {
ryanlin97 7:cead0e7b0c1e 82 smart.pid_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 7:cead0e7b0c1e 102 c = 'z';
ryanlin97 6:b8a1fa98707e 103 } else if(c == 'f') {
ryanlin97 6:b8a1fa98707e 104 pc.printf("turning off\n");
ryanlin97 6:b8a1fa98707e 105 off = 1;
ryanlin97 6:b8a1fa98707e 106 wait(1);
ryanlin97 6:b8a1fa98707e 107 off = 0;
ryanlin97 7:cead0e7b0c1e 108 c = 'z';
ryanlin97 5:186967c92ef5 109 }
ryanlin97 5:186967c92ef5 110
ryanlin97 5:186967c92ef5 111 else if( c == 'm' || manual) {
ryanlin97 5:186967c92ef5 112 pc.printf("turning on joystick\n");
ryanlin97 5:186967c92ef5 113 manual = true;
ryanlin97 5:186967c92ef5 114 t.reset();
ryanlin97 5:186967c92ef5 115 while(manual) {
ryanlin97 5:186967c92ef5 116 smart.move(x,y);
ryanlin97 5:186967c92ef5 117 if( pc.readable()) {
ryanlin97 5:186967c92ef5 118 char d = pc.getc();
ryanlin97 5:186967c92ef5 119 if( d == 'm') {
ryanlin97 5:186967c92ef5 120 pc.printf("turning off joystick\n");
ryanlin97 5:186967c92ef5 121 manual = false;
ryanlin97 5:186967c92ef5 122 }
ryanlin97 0:7e6b349182bc 123 }
ryanlin97 0:7e6b349182bc 124 }
ryanlin97 0:7e6b349182bc 125 }
ryanlin97 5:186967c92ef5 126
ryanlin97 5:186967c92ef5 127 else {
ryanlin97 5:186967c92ef5 128 pc.printf("none \n");
ryanlin97 5:186967c92ef5 129 smart.stop();
ryanlin97 5:186967c92ef5 130 }
ryanlin97 7:cead0e7b0c1e 131 received = false;
ryanlin97 0:7e6b349182bc 132 }
ryanlin97 0:7e6b349182bc 133
ryanlin97 0:7e6b349182bc 134 else {
ryanlin97 5:186967c92ef5 135 // pc.printf("Nothing pressed \n");
ryanlin97 0:7e6b349182bc 136 smart.stop();
ryanlin97 0:7e6b349182bc 137 }
ryanlin97 0:7e6b349182bc 138 wait(process);
ryanlin97 0:7e6b349182bc 139 }
ryanlin97 0:7e6b349182bc 140
ryanlin97 0:7e6b349182bc 141 }
ryanlin97 0:7e6b349182bc 142
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