ryan lin / Mbed 2 deprecated wheeldriveassistance

wheelchair code for driver assitance

Dependencies:   mbed

Fork of wheelchairalexa by ryan lin

main.cpp@6:0cd57bdd8fbc, 2018-07-20 (annotated)

Committer:
ryanlin97
Date:
Fri Jul 20 17:54:43 2018 +0000
Revision:
6:0cd57bdd8fbc
Parent:
5:e0ccaab3959a
Child:
7:5e38d43fbce3
using mpu9250 imu

Who changed what in which revision?

UserRevisionLine numberNew 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 6:0cd57bdd8fbc 11 Serial pc(USBTX, USBRX);
ryanlin97 6:0cd57bdd8fbc 12
ryanlin97 6:0cd57bdd8fbc 13 Wheelchair smart(xDir,yDir, &pc);
ryanlin97 2:c2d049efc266 14
ryanlin97 0:fc0c4a184482 15 int main(void)
ryanlin97 0:fc0c4a184482 16 {
ryanlin97 0:fc0c4a184482 17 on = 1;
ryanlin97 6:0cd57bdd8fbc 18 while(1) {
ryanlin97 6:0cd57bdd8fbc 19 /* if( pc.readable()) {
ryanlin97 6:0cd57bdd8fbc 20 char c = pc.getc();
ryanlin97 6:0cd57bdd8fbc 21 if( c == 'w') {
ryanlin97 6:0cd57bdd8fbc 22 pc.printf("up \n");
ryanlin97 6:0cd57bdd8fbc 23 smart.forward();
ryanlin97 6:0cd57bdd8fbc 24 }
ryanlin97 6:0cd57bdd8fbc 25
ryanlin97 6:0cd57bdd8fbc 26 else if( c == 'd') {
ryanlin97 6:0cd57bdd8fbc 27 pc.printf("left \n");
ryanlin97 6:0cd57bdd8fbc 28 smart.left();
ryanlin97 6:0cd57bdd8fbc 29 }
ryanlin97 6:0cd57bdd8fbc 30
ryanlin97 6:0cd57bdd8fbc 31 else if( c == 'a') {
ryanlin97 6:0cd57bdd8fbc 32 pc.printf("right \n");
ryanlin97 6:0cd57bdd8fbc 33 smart.right();
ryanlin97 6:0cd57bdd8fbc 34 }
ryanlin97 6:0cd57bdd8fbc 35
ryanlin97 6:0cd57bdd8fbc 36 else if( c == 's') {
ryanlin97 6:0cd57bdd8fbc 37 pc.printf("down \n");
ryanlin97 6:0cd57bdd8fbc 38 smart.backward();
ryanlin97 6:0cd57bdd8fbc 39 }
ryanlin97 6:0cd57bdd8fbc 40
ryanlin97 6:0cd57bdd8fbc 41 else {
ryanlin97 6:0cd57bdd8fbc 42 pc.printf("none \n");
ryanlin97 6:0cd57bdd8fbc 43 smart.stop();
ryanlin97 6:0cd57bdd8fbc 44 if( c == 'o') {
ryanlin97 6:0cd57bdd8fbc 45 pc.printf("turning on");
ryanlin97 6:0cd57bdd8fbc 46 on = 0;
ryanlin97 6:0cd57bdd8fbc 47 wait(process);
ryanlin97 6:0cd57bdd8fbc 48 on = 1;
ryanlin97 6:0cd57bdd8fbc 49 }
ryanlin97 6:0cd57bdd8fbc 50
ryanlin97 6:0cd57bdd8fbc 51 else if( c == 'k') {
ryanlin97 6:0cd57bdd8fbc 52 off = 0;
ryanlin97 6:0cd57bdd8fbc 53 wait(process);
ryanlin97 6:0cd57bdd8fbc 54 off = 1;
ryanlin97 6:0cd57bdd8fbc 55 }
ryanlin97 6:0cd57bdd8fbc 56
ryanlin97 6:0cd57bdd8fbc 57 else if( c == 'u') {
ryanlin97 6:0cd57bdd8fbc 58 up = 0;
ryanlin97 6:0cd57bdd8fbc 59 wait(process);
ryanlin97 6:0cd57bdd8fbc 60 up = 1;
ryanlin97 6:0cd57bdd8fbc 61 }
ryanlin97 6:0cd57bdd8fbc 62
ryanlin97 6:0cd57bdd8fbc 63 else if( c == 'p') {
ryanlin97 6:0cd57bdd8fbc 64 down = 0;
ryanlin97 6:0cd57bdd8fbc 65 wait(process);
ryanlin97 6:0cd57bdd8fbc 66 down = 1;
ryanlin97 6:0cd57bdd8fbc 67 }
ryanlin97 6:0cd57bdd8fbc 68 }
ryanlin97 6:0cd57bdd8fbc 69 }
ryanlin97 6:0cd57bdd8fbc 70
ryanlin97 6:0cd57bdd8fbc 71 else {
ryanlin97 6:0cd57bdd8fbc 72 pc.printf("Nothing pressed \n");
ryanlin97 6:0cd57bdd8fbc 73 smart.stop();
ryanlin97 6:0cd57bdd8fbc 74 }
ryanlin97 6:0cd57bdd8fbc 75 */
ryanlin97 6:0cd57bdd8fbc 76 smart.move(x,y);
ryanlin97 6:0cd57bdd8fbc 77 if( pc.readable()) {
ryanlin97 6:0cd57bdd8fbc 78 char c = pc.getc();
ryanlin97 6:0cd57bdd8fbc 79 if( c == 'r') {
ryanlin97 6:0cd57bdd8fbc 80 smart.turn_right(pc);
ryanlin97 0:fc0c4a184482 81 }
ryanlin97 6:0cd57bdd8fbc 82 }
ryanlin97 6:0cd57bdd8fbc 83 wait(process);
ryanlin97 6:0cd57bdd8fbc 84 }
ryanlin97 1:c0beadca1617 85
ryanlin97 0:fc0c4a184482 86 }
ryanlin97 0:fc0c4a184482 87