ryan lin / Mbed 2 deprecated wheeldriveassistance

wheelchair code for driver assitance

Dependencies:   mbed

Fork of wheelchairalexa by ryan lin

main.cpp@3:a5e71bfdb492, 2018-07-16 (annotated)

Committer:
ryanlin97
Date:
Mon Jul 16 20:46:42 2018 +0000
Revision:
3:a5e71bfdb492
Parent:
2:c2d049efc266
Child:
5:e0ccaab3959a
using joystick

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 0:fc0c4a184482 1 #include "wheelchair.h"
ryanlin97 0:fc0c4a184482 2
ryanlin97 0:fc0c4a184482 3 Serial pc(USBTX, USBRX);
ryanlin97 0:fc0c4a184482 4
ryanlin97 3:a5e71bfdb492 5 AnalogIn x(A0);
ryanlin97 3:a5e71bfdb492 6 AnalogIn y(A1);
ryanlin97 3:a5e71bfdb492 7
ryanlin97 0:fc0c4a184482 8 DigitalOut off(D0);
ryanlin97 0:fc0c4a184482 9 DigitalOut on(D1);
ryanlin97 0:fc0c4a184482 10 DigitalOut up(D2);
ryanlin97 0:fc0c4a184482 11 DigitalOut down(D3);
ryanlin97 2:c2d049efc266 12
ryanlin97 2:c2d049efc266 13 Wheelchair smart(xDir,yDir);
ryanlin97 2:c2d049efc266 14
ryanlin97 0:fc0c4a184482 15 int main(void)
ryanlin97 0:fc0c4a184482 16 {
ryanlin97 0:fc0c4a184482 17 on = 1;
ryanlin97 2:c2d049efc266 18 while(1){
ryanlin97 3:a5e71bfdb492 19 /* if( pc.readable()) {
ryanlin97 2:c2d049efc266 20 char c = pc.getc();
ryanlin97 2:c2d049efc266 21 if( c == 'w') {
ryanlin97 2:c2d049efc266 22 pc.printf("up \n");
ryanlin97 2:c2d049efc266 23 smart.forward();
ryanlin97 0:fc0c4a184482 24 }
ryanlin97 2:c2d049efc266 25
ryanlin97 2:c2d049efc266 26 else if( c == 'd') {
ryanlin97 2:c2d049efc266 27 pc.printf("left \n");
ryanlin97 2:c2d049efc266 28 smart.left();
ryanlin97 0:fc0c4a184482 29 }
ryanlin97 2:c2d049efc266 30
ryanlin97 2:c2d049efc266 31 else if( c == 'a') {
ryanlin97 2:c2d049efc266 32 pc.printf("right \n");
ryanlin97 2:c2d049efc266 33 smart.right();
ryanlin97 0:fc0c4a184482 34 }
ryanlin97 2:c2d049efc266 35
ryanlin97 2:c2d049efc266 36 else if( c == 's') {
ryanlin97 2:c2d049efc266 37 pc.printf("down \n");
ryanlin97 2:c2d049efc266 38 smart.backward();
ryanlin97 0:fc0c4a184482 39 }
ryanlin97 2:c2d049efc266 40
ryanlin97 2:c2d049efc266 41 else {
ryanlin97 2:c2d049efc266 42 pc.printf("none \n");
ryanlin97 2:c2d049efc266 43 smart.stop();
ryanlin97 2:c2d049efc266 44 if( c == 'o') {
ryanlin97 2:c2d049efc266 45 pc.printf("turning on");
ryanlin97 2:c2d049efc266 46 on = 0;
ryanlin97 2:c2d049efc266 47 wait(process);
ryanlin97 2:c2d049efc266 48 on = 1;
ryanlin97 0:fc0c4a184482 49 }
ryanlin97 2:c2d049efc266 50
ryanlin97 2:c2d049efc266 51 else if( c == 'k') {
ryanlin97 2:c2d049efc266 52 off = 0;
ryanlin97 2:c2d049efc266 53 wait(process);
ryanlin97 2:c2d049efc266 54 off = 1;
ryanlin97 0:fc0c4a184482 55 }
ryanlin97 2:c2d049efc266 56
ryanlin97 2:c2d049efc266 57 else if( c == 'u') {
ryanlin97 2:c2d049efc266 58 up = 0;
ryanlin97 2:c2d049efc266 59 wait(process);
ryanlin97 2:c2d049efc266 60 up = 1;
ryanlin97 0:fc0c4a184482 61 }
ryanlin97 2:c2d049efc266 62
ryanlin97 2:c2d049efc266 63 else if( c == 'p') {
ryanlin97 2:c2d049efc266 64 down = 0;
ryanlin97 2:c2d049efc266 65 wait(process);
ryanlin97 2:c2d049efc266 66 down = 1;
ryanlin97 0:fc0c4a184482 67 }
ryanlin97 0:fc0c4a184482 68 }
ryanlin97 2:c2d049efc266 69 }
ryanlin97 2:c2d049efc266 70
ryanlin97 2:c2d049efc266 71 else {
ryanlin97 2:c2d049efc266 72 pc.printf("Nothing pressed \n");
ryanlin97 2:c2d049efc266 73 smart.stop();
ryanlin97 2:c2d049efc266 74 }
ryanlin97 3:a5e71bfdb492 75 */
ryanlin97 3:a5e71bfdb492 76 smart.move(x,y);
ryanlin97 2:c2d049efc266 77 wait(process);
ryanlin97 2:c2d049efc266 78 }
ryanlin97 1:c0beadca1617 79
ryanlin97 0:fc0c4a184482 80 }
ryanlin97 0:fc0c4a184482 81