ryan lin
/
wheeldriveassistance
wheelchair code for driver assitance
Fork of wheelchairalexa by
main.cpp@7:5e38d43fbce3, 2018-07-22 (annotated)
- Committer:
- ryanlin97
- Date:
- Sun Jul 22 06:15:03 2018 +0000
- Revision:
- 7:5e38d43fbce3
- Parent:
- 6:0cd57bdd8fbc
- Child:
- 8:381a4ec3fef8
turning
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryanlin97 | 0:fc0c4a184482 | 1 | #include "wheelchair.h" |
ryanlin97 | 0:fc0c4a184482 | 2 | |
ryanlin97 | 3:a5e71bfdb492 | 3 | AnalogIn x(A0); |
ryanlin97 | 3:a5e71bfdb492 | 4 | AnalogIn y(A1); |
ryanlin97 | 3:a5e71bfdb492 | 5 | |
ryanlin97 | 0:fc0c4a184482 | 6 | DigitalOut off(D0); |
ryanlin97 | 0:fc0c4a184482 | 7 | DigitalOut on(D1); |
ryanlin97 | 0:fc0c4a184482 | 8 | DigitalOut up(D2); |
ryanlin97 | 0:fc0c4a184482 | 9 | DigitalOut down(D3); |
ryanlin97 | 2:c2d049efc266 | 10 | |
ryanlin97 | 7:5e38d43fbce3 | 11 | Serial pc(USBTX, USBRX, 57600); |
ryanlin97 | 7:5e38d43fbce3 | 12 | Timer t; |
ryanlin97 | 7:5e38d43fbce3 | 13 | Timer other; |
ryanlin97 | 6:0cd57bdd8fbc | 14 | |
ryanlin97 | 7:5e38d43fbce3 | 15 | MPU9250 imu(D14, D15); |
ryanlin97 | 7:5e38d43fbce3 | 16 | Wheelchair smart(xDir,yDir, &pc, &t); |
ryanlin97 | 2:c2d049efc266 | 17 | |
ryanlin97 | 0:fc0c4a184482 | 18 | int main(void) |
ryanlin97 | 0:fc0c4a184482 | 19 | { |
ryanlin97 | 7:5e38d43fbce3 | 20 | |
ryanlin97 | 7:5e38d43fbce3 | 21 | uint8_t whoami = imu.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250 |
ryanlin97 | 7:5e38d43fbce3 | 22 | pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r"); |
ryanlin97 | 7:5e38d43fbce3 | 23 | |
ryanlin97 | 7:5e38d43fbce3 | 24 | if (whoami == 0x71) // WHO_AM_I should always be 0x68 |
ryanlin97 | 7:5e38d43fbce3 | 25 | { |
ryanlin97 | 7:5e38d43fbce3 | 26 | pc.printf("MPU9250 is online...\n\r"); |
ryanlin97 | 7:5e38d43fbce3 | 27 | |
ryanlin97 | 7:5e38d43fbce3 | 28 | wait(1); |
ryanlin97 | 7:5e38d43fbce3 | 29 | |
ryanlin97 | 7:5e38d43fbce3 | 30 | imu.resetMPU9250(); // Reset registers to default in preparation for device calibration |
ryanlin97 | 7:5e38d43fbce3 | 31 | imu.calibrateMPU9250(imu.gyroBias, imu.accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
ryanlin97 | 7:5e38d43fbce3 | 32 | imu.initMPU9250(); |
ryanlin97 | 7:5e38d43fbce3 | 33 | imu.initAK8963(imu.magCalibration); |
ryanlin97 | 7:5e38d43fbce3 | 34 | wait(2); |
ryanlin97 | 7:5e38d43fbce3 | 35 | } |
ryanlin97 | 7:5e38d43fbce3 | 36 | else |
ryanlin97 | 7:5e38d43fbce3 | 37 | { |
ryanlin97 | 7:5e38d43fbce3 | 38 | pc.printf("Could not connect to MPU9250: \n\r"); |
ryanlin97 | 7:5e38d43fbce3 | 39 | pc.printf("%#x \n", whoami); |
ryanlin97 | 7:5e38d43fbce3 | 40 | |
ryanlin97 | 7:5e38d43fbce3 | 41 | while(1) ; // Loop forever if communication doesn't happen |
ryanlin97 | 7:5e38d43fbce3 | 42 | } |
ryanlin97 | 7:5e38d43fbce3 | 43 | |
ryanlin97 | 7:5e38d43fbce3 | 44 | imu.getAres(); // Get accelerometer sensitivity |
ryanlin97 | 7:5e38d43fbce3 | 45 | imu.getGres(); // Get gyro sensitivity |
ryanlin97 | 7:5e38d43fbce3 | 46 | imu.getMres(); // Get magnetometer sensitivity |
ryanlin97 | 7:5e38d43fbce3 | 47 | pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/imu.aRes); |
ryanlin97 | 7:5e38d43fbce3 | 48 | pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/imu.gRes); |
ryanlin97 | 7:5e38d43fbce3 | 49 | pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/imu.mRes); |
ryanlin97 | 7:5e38d43fbce3 | 50 | imu.magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated |
ryanlin97 | 7:5e38d43fbce3 | 51 | imu.magbias[1] = +120.; // User environmental x-axis correction in milliGauss |
ryanlin97 | 7:5e38d43fbce3 | 52 | imu.magbias[2] = +125.; // User environmental x-axis correction in milliGauss |
ryanlin97 | 7:5e38d43fbce3 | 53 | |
ryanlin97 | 7:5e38d43fbce3 | 54 | |
ryanlin97 | 0:fc0c4a184482 | 55 | on = 1; |
ryanlin97 | 6:0cd57bdd8fbc | 56 | while(1) { |
ryanlin97 | 7:5e38d43fbce3 | 57 | /* if( pc.readable()) { |
ryanlin97 | 6:0cd57bdd8fbc | 58 | char c = pc.getc(); |
ryanlin97 | 6:0cd57bdd8fbc | 59 | if( c == 'w') { |
ryanlin97 | 6:0cd57bdd8fbc | 60 | pc.printf("up \n"); |
ryanlin97 | 6:0cd57bdd8fbc | 61 | smart.forward(); |
ryanlin97 | 6:0cd57bdd8fbc | 62 | } |
ryanlin97 | 6:0cd57bdd8fbc | 63 | |
ryanlin97 | 6:0cd57bdd8fbc | 64 | else if( c == 'd') { |
ryanlin97 | 6:0cd57bdd8fbc | 65 | pc.printf("left \n"); |
ryanlin97 | 6:0cd57bdd8fbc | 66 | smart.left(); |
ryanlin97 | 6:0cd57bdd8fbc | 67 | } |
ryanlin97 | 6:0cd57bdd8fbc | 68 | |
ryanlin97 | 6:0cd57bdd8fbc | 69 | else if( c == 'a') { |
ryanlin97 | 6:0cd57bdd8fbc | 70 | pc.printf("right \n"); |
ryanlin97 | 6:0cd57bdd8fbc | 71 | smart.right(); |
ryanlin97 | 6:0cd57bdd8fbc | 72 | } |
ryanlin97 | 6:0cd57bdd8fbc | 73 | |
ryanlin97 | 6:0cd57bdd8fbc | 74 | else if( c == 's') { |
ryanlin97 | 6:0cd57bdd8fbc | 75 | pc.printf("down \n"); |
ryanlin97 | 6:0cd57bdd8fbc | 76 | smart.backward(); |
ryanlin97 | 6:0cd57bdd8fbc | 77 | } |
ryanlin97 | 6:0cd57bdd8fbc | 78 | |
ryanlin97 | 6:0cd57bdd8fbc | 79 | else { |
ryanlin97 | 6:0cd57bdd8fbc | 80 | pc.printf("none \n"); |
ryanlin97 | 6:0cd57bdd8fbc | 81 | smart.stop(); |
ryanlin97 | 6:0cd57bdd8fbc | 82 | if( c == 'o') { |
ryanlin97 | 6:0cd57bdd8fbc | 83 | pc.printf("turning on"); |
ryanlin97 | 6:0cd57bdd8fbc | 84 | on = 0; |
ryanlin97 | 6:0cd57bdd8fbc | 85 | wait(process); |
ryanlin97 | 6:0cd57bdd8fbc | 86 | on = 1; |
ryanlin97 | 6:0cd57bdd8fbc | 87 | } |
ryanlin97 | 6:0cd57bdd8fbc | 88 | |
ryanlin97 | 6:0cd57bdd8fbc | 89 | else if( c == 'k') { |
ryanlin97 | 6:0cd57bdd8fbc | 90 | off = 0; |
ryanlin97 | 6:0cd57bdd8fbc | 91 | wait(process); |
ryanlin97 | 6:0cd57bdd8fbc | 92 | off = 1; |
ryanlin97 | 6:0cd57bdd8fbc | 93 | } |
ryanlin97 | 6:0cd57bdd8fbc | 94 | |
ryanlin97 | 6:0cd57bdd8fbc | 95 | else if( c == 'u') { |
ryanlin97 | 6:0cd57bdd8fbc | 96 | up = 0; |
ryanlin97 | 6:0cd57bdd8fbc | 97 | wait(process); |
ryanlin97 | 6:0cd57bdd8fbc | 98 | up = 1; |
ryanlin97 | 6:0cd57bdd8fbc | 99 | } |
ryanlin97 | 6:0cd57bdd8fbc | 100 | |
ryanlin97 | 6:0cd57bdd8fbc | 101 | else if( c == 'p') { |
ryanlin97 | 6:0cd57bdd8fbc | 102 | down = 0; |
ryanlin97 | 6:0cd57bdd8fbc | 103 | wait(process); |
ryanlin97 | 6:0cd57bdd8fbc | 104 | down = 1; |
ryanlin97 | 6:0cd57bdd8fbc | 105 | } |
ryanlin97 | 6:0cd57bdd8fbc | 106 | } |
ryanlin97 | 6:0cd57bdd8fbc | 107 | } |
ryanlin97 | 6:0cd57bdd8fbc | 108 | |
ryanlin97 | 6:0cd57bdd8fbc | 109 | else { |
ryanlin97 | 6:0cd57bdd8fbc | 110 | pc.printf("Nothing pressed \n"); |
ryanlin97 | 6:0cd57bdd8fbc | 111 | smart.stop(); |
ryanlin97 | 6:0cd57bdd8fbc | 112 | } |
ryanlin97 | 7:5e38d43fbce3 | 113 | */ |
ryanlin97 | 6:0cd57bdd8fbc | 114 | smart.move(x,y); |
ryanlin97 | 6:0cd57bdd8fbc | 115 | if( pc.readable()) { |
ryanlin97 | 6:0cd57bdd8fbc | 116 | char c = pc.getc(); |
ryanlin97 | 6:0cd57bdd8fbc | 117 | if( c == 'r') { |
ryanlin97 | 7:5e38d43fbce3 | 118 | smart.turn_right(); |
ryanlin97 | 0:fc0c4a184482 | 119 | } |
ryanlin97 | 6:0cd57bdd8fbc | 120 | } |
ryanlin97 | 6:0cd57bdd8fbc | 121 | wait(process); |
ryanlin97 | 6:0cd57bdd8fbc | 122 | } |
ryanlin97 | 1:c0beadca1617 | 123 | |
ryanlin97 | 0:fc0c4a184482 | 124 | } |
ryanlin97 | 0:fc0c4a184482 | 125 |