ryan lin / Mbed 2 deprecated wheeldriveassistance

wheelchair code for driver assitance

Dependencies:   mbed

Fork of wheelchairalexa by ryan lin

wheelchair.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?

UserRevisionLine numberNew contents of line
ryanlin97 0:fc0c4a184482 1 #include "wheelchair.h"
ryanlin97 11:75f0f13ff6c1 2
ryanlin97 10:e5463c11e0a0 3 bool manual_drive = false;
ryanlin97 11:75f0f13ff6c1 4 volatile float north;
ryanlin97 11:75f0f13ff6c1 5 //volatile double curr_yaw;
ryanlin97 11:75f0f13ff6c1 6 double curr_yaw;
ryanlin97 11:75f0f13ff6c1 7 double Setpoint, Output;
ryanlin97 1:c0beadca1617 8
ryanlin97 11:75f0f13ff6c1 9 void Wheelchair::compass_thread() {
ryanlin97 11:75f0f13ff6c1 10
ryanlin97 11:75f0f13ff6c1 11 }
ryanlin97 11:75f0f13ff6c1 12
ryanlin97 8:381a4ec3fef8 13 Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time )
ryanlin97 1:c0beadca1617 14 {
ryanlin97 3:a5e71bfdb492 15 x = new PwmOut(xPin);
ryanlin97 3:a5e71bfdb492 16 y = new PwmOut(yPin);
ryanlin97 11:75f0f13ff6c1 17 //imu = new chair_MPU9250(pc, time);
ryanlin97 11:75f0f13ff6c1 18 Wheelchair::stop();
ryanlin97 7:5e38d43fbce3 19 out = pc;
ryanlin97 7:5e38d43fbce3 20 out->printf("wheelchair setup done \n");
ryanlin97 11:75f0f13ff6c1 21 ti = time;
ryanlin97 1:c0beadca1617 22 }
ryanlin97 6:0cd57bdd8fbc 23
ryanlin97 3:a5e71bfdb492 24 /*
ryanlin97 3:a5e71bfdb492 25 * joystick has analog out of 200-700, scale values between 1.3 and 3.3
ryanlin97 3:a5e71bfdb492 26 */
ryanlin97 3:a5e71bfdb492 27 void Wheelchair::move(float x_coor, float y_coor)
ryanlin97 1:c0beadca1617 28 {
ryanlin97 6:0cd57bdd8fbc 29
ryanlin97 4:29a27953fe70 30 float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
ryanlin97 4:29a27953fe70 31 float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
ryanlin97 11:75f0f13ff6c1 32
ryanlin97 11:75f0f13ff6c1 33 // lowPass(scaled_x);
ryanlin97 11:75f0f13ff6c1 34 //lowPass(scaled_y);
ryanlin97 11:75f0f13ff6c1 35
ryanlin97 4:29a27953fe70 36 x->write(scaled_x);
ryanlin97 4:29a27953fe70 37 y->write(scaled_y);
ryanlin97 11:75f0f13ff6c1 38
ryanlin97 11:75f0f13ff6c1 39 //out->printf("yaw %f\n", imu->yaw());
ryanlin97 1:c0beadca1617 40
ryanlin97 5:e0ccaab3959a 41 }
ryanlin97 11:75f0f13ff6c1 42
ryanlin97 1:c0beadca1617 43 void Wheelchair::forward()
ryanlin97 1:c0beadca1617 44 {
ryanlin97 0:fc0c4a184482 45 x->write(high);
ryanlin97 3:a5e71bfdb492 46 y->write(def+offset);
ryanlin97 0:fc0c4a184482 47 }
ryanlin97 0:fc0c4a184482 48
ryanlin97 1:c0beadca1617 49 void Wheelchair::backward()
ryanlin97 1:c0beadca1617 50 {
ryanlin97 0:fc0c4a184482 51 x->write(low);
ryanlin97 0:fc0c4a184482 52 y->write(def);
ryanlin97 0:fc0c4a184482 53 }
ryanlin97 0:fc0c4a184482 54
ryanlin97 1:c0beadca1617 55 void Wheelchair::right()
ryanlin97 1:c0beadca1617 56 {
ryanlin97 0:fc0c4a184482 57 x->write(def);
ryanlin97 11:75f0f13ff6c1 58 y->write(low);
ryanlin97 0:fc0c4a184482 59 }
ryanlin97 0:fc0c4a184482 60
ryanlin97 1:c0beadca1617 61 void Wheelchair::left()
ryanlin97 1:c0beadca1617 62 {
ryanlin97 0:fc0c4a184482 63 x->write(def);
ryanlin97 11:75f0f13ff6c1 64 y->write(high);
ryanlin97 0:fc0c4a184482 65 }
ryanlin97 0:fc0c4a184482 66
ryanlin97 1:c0beadca1617 67 void Wheelchair::stop()
ryanlin97 1:c0beadca1617 68 {
ryanlin97 0:fc0c4a184482 69 x->write(def);
ryanlin97 0:fc0c4a184482 70 y->write(def);
ryanlin97 6:0cd57bdd8fbc 71 }
ryanlin97 11:75f0f13ff6c1 72 // counter clockwise is -
ryanlin97 11:75f0f13ff6c1 73 // clockwise is +
ryanlin97 11:75f0f13ff6c1 74 double Wheelchair::turn_right(int deg)
ryanlin97 6:0cd57bdd8fbc 75 {
ryanlin97 11:75f0f13ff6c1 76 return;
ryanlin97 6:0cd57bdd8fbc 77 }
ryanlin97 6:0cd57bdd8fbc 78
ryanlin97 11:75f0f13ff6c1 79 double Wheelchair::turn_left(int deg)
ryanlin97 6:0cd57bdd8fbc 80 {
ryanlin97 11:75f0f13ff6c1 81 return;
ryanlin97 6:0cd57bdd8fbc 82 }
ryanlin97 8:381a4ec3fef8 83
ryanlin97 11:75f0f13ff6c1 84 void Wheelchair::turn(int deg)
ryanlin97 11:75f0f13ff6c1 85 {
ryanlin97 11:75f0f13ff6c1 86 return;
ryanlin97 11:75f0f13ff6c1 87 }
ryanlin97 10:e5463c11e0a0 88