ryan lin
/
wheeldriveassistance
wheelchair code for driver assitance
Fork of wheelchairalexa by
main.cpp@11:75f0f13ff6c1, 2018-08-16 (annotated)
- Committer:
- ryanlin97
- Date:
- Thu Aug 16 16:42:45 2018 +0000
- Revision:
- 11:75f0f13ff6c1
- Parent:
- 10:e5463c11e0a0
- Child:
- 12:0e5a0571b497
for alexa
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 | 10:e5463c11e0a0 | 11 | bool manual = false; |
ryanlin97 | 10:e5463c11e0a0 | 12 | |
ryanlin97 | 7:5e38d43fbce3 | 13 | Serial pc(USBTX, USBRX, 57600); |
ryanlin97 | 7:5e38d43fbce3 | 14 | Timer t; |
ryanlin97 | 6:0cd57bdd8fbc | 15 | |
ryanlin97 | 11:75f0f13ff6c1 | 16 | Wheelchair smart(xDir,yDir, &pc, &t); |
ryanlin97 | 11:75f0f13ff6c1 | 17 | |
ryanlin97 | 2:c2d049efc266 | 18 | |
ryanlin97 | 0:fc0c4a184482 | 19 | int main(void) |
ryanlin97 | 0:fc0c4a184482 | 20 | { |
ryanlin97 | 11:75f0f13ff6c1 | 21 | pc.printf("hello\n"); |
ryanlin97 | 6:0cd57bdd8fbc | 22 | while(1) { |
ryanlin97 | 10:e5463c11e0a0 | 23 | if( pc.readable()) { |
ryanlin97 | 10:e5463c11e0a0 | 24 | char c = pc.getc(); |
ryanlin97 | 11:75f0f13ff6c1 | 25 | pc.printf("hello\n"); |
ryanlin97 | 10:e5463c11e0a0 | 26 | if( c == 'w') { |
ryanlin97 | 10:e5463c11e0a0 | 27 | pc.printf("up \n"); |
ryanlin97 | 10:e5463c11e0a0 | 28 | smart.forward(); |
ryanlin97 | 10:e5463c11e0a0 | 29 | } |
ryanlin97 | 6:0cd57bdd8fbc | 30 | |
ryanlin97 | 11:75f0f13ff6c1 | 31 | else if( c == 'a') { |
ryanlin97 | 10:e5463c11e0a0 | 32 | pc.printf("left \n"); |
ryanlin97 | 10:e5463c11e0a0 | 33 | smart.left(); |
ryanlin97 | 10:e5463c11e0a0 | 34 | } |
ryanlin97 | 6:0cd57bdd8fbc | 35 | |
ryanlin97 | 11:75f0f13ff6c1 | 36 | else if( c == 'd') { |
ryanlin97 | 10:e5463c11e0a0 | 37 | pc.printf("right \n"); |
ryanlin97 | 10:e5463c11e0a0 | 38 | smart.right(); |
ryanlin97 | 10:e5463c11e0a0 | 39 | } |
ryanlin97 | 6:0cd57bdd8fbc | 40 | |
ryanlin97 | 10:e5463c11e0a0 | 41 | else if( c == 's') { |
ryanlin97 | 10:e5463c11e0a0 | 42 | pc.printf("down \n"); |
ryanlin97 | 10:e5463c11e0a0 | 43 | smart.backward(); |
ryanlin97 | 10:e5463c11e0a0 | 44 | } |
ryanlin97 | 6:0cd57bdd8fbc | 45 | |
ryanlin97 | 10:e5463c11e0a0 | 46 | else if( c == 'r') { |
ryanlin97 | 11:75f0f13ff6c1 | 47 | smart.turn_right(90); |
ryanlin97 | 10:e5463c11e0a0 | 48 | } |
ryanlin97 | 6:0cd57bdd8fbc | 49 | |
ryanlin97 | 10:e5463c11e0a0 | 50 | else if( c == 'l') { |
ryanlin97 | 11:75f0f13ff6c1 | 51 | smart.turn_left(90); |
ryanlin97 | 10:e5463c11e0a0 | 52 | } |
ryanlin97 | 6:0cd57bdd8fbc | 53 | |
ryanlin97 | 11:75f0f13ff6c1 | 54 | else if( c == 't') { |
ryanlin97 | 11:75f0f13ff6c1 | 55 | char buffer[256]; |
ryanlin97 | 11:75f0f13ff6c1 | 56 | pc.printf ("Enter a long number: "); |
ryanlin97 | 11:75f0f13ff6c1 | 57 | fgets (buffer, 256, stdin); |
ryanlin97 | 11:75f0f13ff6c1 | 58 | int angle = atoi (buffer); |
ryanlin97 | 11:75f0f13ff6c1 | 59 | |
ryanlin97 | 11:75f0f13ff6c1 | 60 | if(angle == 0) { |
ryanlin97 | 11:75f0f13ff6c1 | 61 | pc.printf("invalid input try again\n"); |
ryanlin97 | 11:75f0f13ff6c1 | 62 | } |
ryanlin97 | 11:75f0f13ff6c1 | 63 | else { |
ryanlin97 | 11:75f0f13ff6c1 | 64 | smart.turn(angle); |
ryanlin97 | 11:75f0f13ff6c1 | 65 | } |
ryanlin97 | 11:75f0f13ff6c1 | 66 | |
ryanlin97 | 11:75f0f13ff6c1 | 67 | } |
ryanlin97 | 11:75f0f13ff6c1 | 68 | |
ryanlin97 | 11:75f0f13ff6c1 | 69 | else if( c == 'm') { |
ryanlin97 | 10:e5463c11e0a0 | 70 | pc.printf("turning on joystick\n"); |
ryanlin97 | 10:e5463c11e0a0 | 71 | manual = true; |
ryanlin97 | 11:75f0f13ff6c1 | 72 | t.reset(); |
ryanlin97 | 10:e5463c11e0a0 | 73 | while(manual) { |
ryanlin97 | 10:e5463c11e0a0 | 74 | smart.move(x,y); |
ryanlin97 | 10:e5463c11e0a0 | 75 | if( pc.readable()) { |
ryanlin97 | 10:e5463c11e0a0 | 76 | char d = pc.getc(); |
ryanlin97 | 10:e5463c11e0a0 | 77 | if( d == 'm') { |
ryanlin97 | 10:e5463c11e0a0 | 78 | pc.printf("turning off joystick\n"); |
ryanlin97 | 10:e5463c11e0a0 | 79 | manual = false; |
ryanlin97 | 10:e5463c11e0a0 | 80 | } |
ryanlin97 | 10:e5463c11e0a0 | 81 | } |
ryanlin97 | 10:e5463c11e0a0 | 82 | } |
ryanlin97 | 10:e5463c11e0a0 | 83 | } |
ryanlin97 | 6:0cd57bdd8fbc | 84 | |
ryanlin97 | 10:e5463c11e0a0 | 85 | else { |
ryanlin97 | 10:e5463c11e0a0 | 86 | pc.printf("none \n"); |
ryanlin97 | 10:e5463c11e0a0 | 87 | smart.stop(); |
ryanlin97 | 10:e5463c11e0a0 | 88 | } |
ryanlin97 | 10:e5463c11e0a0 | 89 | } |
ryanlin97 | 6:0cd57bdd8fbc | 90 | |
ryanlin97 | 10:e5463c11e0a0 | 91 | else { |
ryanlin97 | 10:e5463c11e0a0 | 92 | smart.stop(); |
ryanlin97 | 10:e5463c11e0a0 | 93 | } |
ryanlin97 | 6:0cd57bdd8fbc | 94 | wait(process); |
ryanlin97 | 6:0cd57bdd8fbc | 95 | } |
ryanlin97 | 1:c0beadca1617 | 96 | |
ryanlin97 | 0:fc0c4a184482 | 97 | } |
ryanlin97 | 0:fc0c4a184482 | 98 |