Revision 12:0e5a0571b497, committed 2018-08-17

Comitter:

ryanlin97

Date:

Fri Aug 17 03:10:39 2018 +0000

Parent:

11:75f0f13ff6c1

Commit message:

code for driver assistance;

Changed in this revision

--- a/main.cpp	Thu Aug 16 16:42:45 2018 +0000
+++ b/main.cpp	Fri Aug 17 03:10:39 2018 +0000
@@ -3,14 +3,17 @@
 AnalogIn x(A0);
 AnalogIn y(A1);
 
-DigitalOut off(D0);
-DigitalOut on(D1);
+DigitalOut on(D12);
+DigitalOut off(D11);
 DigitalOut up(D2);
 DigitalOut down(D3);
 
 bool manual = false;
+bool leftBound = false;
+bool rightBound = false;
+bool straightBound = false;
 
-Serial pc(USBTX, USBRX, 57600);
+Serial pc(USBTX, USBRX, 9600);
 Timer t;
 
 Wheelchair smart(xDir,yDir, &pc, &t);
@@ -18,62 +21,39 @@
 
 int main(void)
 {
-    pc.printf("hello\n");
+    smart.stop();
     while(1) {
-        if( pc.readable()) {
-            char c = pc.getc();
-            pc.printf("hello\n");
-            if( c == 'w') {
-                pc.printf("up \n");
-                smart.forward();
-            }
-
-            else if( c == 'a') {
-                pc.printf("left \n");
-                smart.left();
-            }
-
-            else if( c == 'd') {
-                pc.printf("right \n");
-                smart.right();
-            }
-
-            else if( c == 's') {
-                pc.printf("down \n");
-                smart.backward();
-            }
-
-            else if( c == 'r') {
-                smart.turn_right(90);
-            }
-
-            else if( c == 'l') {
-                smart.turn_left(90);
-            }
-
-            else if( c == 't') {
-                char buffer[256];
-                pc.printf ("Enter a long number: ");
-                fgets (buffer, 256, stdin);
-                int angle = atoi (buffer);
-                
-                if(angle == 0) {
-                    pc.printf("invalid input try again\n");
-                    }
-                else {
-                smart.turn(angle);
-                    }
-                    
-            } 
-            
-            else if( c == 'm') {
                 pc.printf("turning on joystick\n");
                 manual = true;
                 t.reset();
                 while(manual) {
-                    smart.move(x,y);
+                    smart.move(x,y,leftBound,rightBound,straightBound);
                     if( pc.readable()) {
                         char d = pc.getc();
+                        if( d == 'l') {
+                            leftBound = true;
+                        }
+
+                        if (d == 'e') {
+                            leftBound = false;
+                        }
+
+                        if( d == 'f') {
+                            straightBound = true;
+                        }
+
+                        if (d == 'o') {
+                            straightBound = false;
+                        }
+
+                        if( d == 'r') {
+                            rightBound = true;
+                        }
+
+                        if( d == 'i') {
+                            rightBound = false;
+                        }
+
                         if( d == 'm') {
                             pc.printf("turning off joystick\n");
                             manual = false;
@@ -82,17 +62,8 @@
                 }
             }
 
-            else {
-                pc.printf("none \n");
-                smart.stop();
-            }
-        }
-
-        else {
-            smart.stop();
-        }
-        wait(process);
-    }
-
+    wait(process);
 }
 
+
+

--- a/wheelchair.cpp	Thu Aug 16 16:42:45 2018 +0000
+++ b/wheelchair.cpp	Fri Aug 17 03:10:39 2018 +0000
@@ -21,25 +21,6 @@
     ti = time;
 }
 
-/*
-* joystick has analog out of 200-700, scale values between 1.3 and 3.3
-*/
-void Wheelchair::move(float x_coor, float y_coor)
-{
-
-    float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
-    float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
-    
-   // lowPass(scaled_x);
-    //lowPass(scaled_y);
-    
-    x->write(scaled_x);
-    y->write(scaled_y);
-    
-    //out->printf("yaw %f\n", imu->yaw());
-
-}
-
 void Wheelchair::forward()
 {
     x->write(high);
@@ -86,3 +67,31 @@
  return;   
 }
 
+/*
+* joystick has analog out of 200-700, scale values between 1.3 and 3.3
+*/
+void Wheelchair::move(float x_coor, float y_coor, bool leftbound, bool rightbound, bool straightbound)
+{
+
+
+    float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
+    float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
+    
+    if(leftbound && (scaled_x > 2.5) ) {
+            Wheelchair::stop();
+        }
+    
+    else if(rightbound && (scaled_x < 2.5) ) { 
+            Wheelchair::stop();
+        }
+    
+    else if(straightbound && (scaled_y > 2.5) ) { 
+            Wheelchair::stop();
+        }
+        
+    else {
+    x->write(scaled_x);
+    y->write(scaled_y);
+    }
+}
+

--- a/wheelchair.h	Thu Aug 16 16:42:45 2018 +0000
+++ b/wheelchair.h	Fri Aug 17 03:10:39 2018 +0000
@@ -15,7 +15,7 @@
 {
 public:
     Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time);
-    void move(float x_coor, float y_coor);
+    void move(float x_coor, float y_coor, bool, bool, bool);
     double turn_right(int deg);
     double turn_left(int deg);
     void turn(int deg);