ryan lin
/
wheeldriveassistance
wheelchair code for driver assitance
Fork of wheelchairalexa by
main.cpp@10:e5463c11e0a0, 2018-07-23 (annotated)
- Committer:
- ryanlin97
- Date:
- Mon Jul 23 20:17:37 2018 +0000
- Revision:
- 10:e5463c11e0a0
- Parent:
- 8:381a4ec3fef8
- Child:
- 11:75f0f13ff6c1
working with turns
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 | 10:e5463c11e0a0 | 16 | MPU9250 imu(D14, D15); |
ryanlin97 | 8:381a4ec3fef8 | 17 | //Wheelchair smart(xDir,yDir, &pc, &t); |
ryanlin97 | 2:c2d049efc266 | 18 | |
ryanlin97 | 0:fc0c4a184482 | 19 | int main(void) |
ryanlin97 | 0:fc0c4a184482 | 20 | { |
ryanlin97 | 10:e5463c11e0a0 | 21 | |
ryanlin97 | 10:e5463c11e0a0 | 22 | uint8_t whoami = imu.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250 |
ryanlin97 | 10:e5463c11e0a0 | 23 | pc.printf("I AM 0x%x\n\r", whoami); |
ryanlin97 | 10:e5463c11e0a0 | 24 | pc.printf("I SHOULD BE 0x71\n\r"); |
ryanlin97 | 10:e5463c11e0a0 | 25 | |
ryanlin97 | 10:e5463c11e0a0 | 26 | if (whoami == 0x71) { // WHO_AM_I should always be 0x68 |
ryanlin97 | 10:e5463c11e0a0 | 27 | pc.printf("MPU9250 is online...\n\r"); |
ryanlin97 | 10:e5463c11e0a0 | 28 | |
ryanlin97 | 10:e5463c11e0a0 | 29 | wait(1); |
ryanlin97 | 10:e5463c11e0a0 | 30 | |
ryanlin97 | 10:e5463c11e0a0 | 31 | imu.resetMPU9250(); // Reset registers to default in preparation for device calibration |
ryanlin97 | 10:e5463c11e0a0 | 32 | imu.calibrateMPU9250(imu.gyroBias, imu.accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
ryanlin97 | 10:e5463c11e0a0 | 33 | imu.initMPU9250(); |
ryanlin97 | 10:e5463c11e0a0 | 34 | imu.initAK8963(imu.magCalibration); |
ryanlin97 | 10:e5463c11e0a0 | 35 | wait(2); |
ryanlin97 | 10:e5463c11e0a0 | 36 | |
ryanlin97 | 10:e5463c11e0a0 | 37 | } else { |
ryanlin97 | 10:e5463c11e0a0 | 38 | pc.printf("Could not connect to MPU9250: \n\r"); |
ryanlin97 | 10:e5463c11e0a0 | 39 | pc.printf("%#x \n", whoami); |
ryanlin97 | 10:e5463c11e0a0 | 40 | |
ryanlin97 | 10:e5463c11e0a0 | 41 | while(1) ; // Loop forever if communication doesn't happen |
ryanlin97 | 7:5e38d43fbce3 | 42 | } |
ryanlin97 | 7:5e38d43fbce3 | 43 | |
ryanlin97 | 7:5e38d43fbce3 | 44 | imu.getAres(); // Get accelerometer sensitivity |
ryanlin97 | 7:5e38d43fbce3 | 45 | imu.getGres(); // Get gyro sensitivity |
ryanlin97 | 7:5e38d43fbce3 | 46 | imu.getMres(); // Get magnetometer sensitivity |
ryanlin97 | 7:5e38d43fbce3 | 47 | pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/imu.aRes); |
ryanlin97 | 7:5e38d43fbce3 | 48 | pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/imu.gRes); |
ryanlin97 | 7:5e38d43fbce3 | 49 | pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/imu.mRes); |
ryanlin97 | 7:5e38d43fbce3 | 50 | imu.magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated |
ryanlin97 | 7:5e38d43fbce3 | 51 | imu.magbias[1] = +120.; // User environmental x-axis correction in milliGauss |
ryanlin97 | 7:5e38d43fbce3 | 52 | imu.magbias[2] = +125.; // User environmental x-axis correction in milliGauss |
ryanlin97 | 10:e5463c11e0a0 | 53 | |
ryanlin97 | 10:e5463c11e0a0 | 54 | |
ryanlin97 | 8:381a4ec3fef8 | 55 | Wheelchair smart(xDir,yDir, &pc, &t); |
ryanlin97 | 10:e5463c11e0a0 | 56 | |
ryanlin97 | 6:0cd57bdd8fbc | 57 | while(1) { |
ryanlin97 | 10:e5463c11e0a0 | 58 | if( pc.readable()) { |
ryanlin97 | 10:e5463c11e0a0 | 59 | char c = pc.getc(); |
ryanlin97 | 10:e5463c11e0a0 | 60 | |
ryanlin97 | 10:e5463c11e0a0 | 61 | if( c == 'w') { |
ryanlin97 | 10:e5463c11e0a0 | 62 | pc.printf("up \n"); |
ryanlin97 | 10:e5463c11e0a0 | 63 | smart.forward(); |
ryanlin97 | 10:e5463c11e0a0 | 64 | } |
ryanlin97 | 6:0cd57bdd8fbc | 65 | |
ryanlin97 | 10:e5463c11e0a0 | 66 | else if( c == 'd') { |
ryanlin97 | 10:e5463c11e0a0 | 67 | pc.printf("left \n"); |
ryanlin97 | 10:e5463c11e0a0 | 68 | smart.left(); |
ryanlin97 | 10:e5463c11e0a0 | 69 | } |
ryanlin97 | 6:0cd57bdd8fbc | 70 | |
ryanlin97 | 10:e5463c11e0a0 | 71 | else if( c == 'a') { |
ryanlin97 | 10:e5463c11e0a0 | 72 | pc.printf("right \n"); |
ryanlin97 | 10:e5463c11e0a0 | 73 | smart.right(); |
ryanlin97 | 10:e5463c11e0a0 | 74 | } |
ryanlin97 | 6:0cd57bdd8fbc | 75 | |
ryanlin97 | 10:e5463c11e0a0 | 76 | else if( c == 's') { |
ryanlin97 | 10:e5463c11e0a0 | 77 | pc.printf("down \n"); |
ryanlin97 | 10:e5463c11e0a0 | 78 | smart.backward(); |
ryanlin97 | 10:e5463c11e0a0 | 79 | } |
ryanlin97 | 6:0cd57bdd8fbc | 80 | |
ryanlin97 | 10:e5463c11e0a0 | 81 | else if( c == 'r') { |
ryanlin97 | 10:e5463c11e0a0 | 82 | smart.turn_right(); |
ryanlin97 | 10:e5463c11e0a0 | 83 | } |
ryanlin97 | 6:0cd57bdd8fbc | 84 | |
ryanlin97 | 10:e5463c11e0a0 | 85 | else if( c == 'l') { |
ryanlin97 | 10:e5463c11e0a0 | 86 | smart.turn_left(); |
ryanlin97 | 10:e5463c11e0a0 | 87 | } |
ryanlin97 | 6:0cd57bdd8fbc | 88 | |
ryanlin97 | 10:e5463c11e0a0 | 89 | else if( c == 'm' || manual) { |
ryanlin97 | 10:e5463c11e0a0 | 90 | pc.printf("turning on joystick\n"); |
ryanlin97 | 10:e5463c11e0a0 | 91 | manual = true; |
ryanlin97 | 10:e5463c11e0a0 | 92 | while(manual) { |
ryanlin97 | 10:e5463c11e0a0 | 93 | smart.move(x,y); |
ryanlin97 | 10:e5463c11e0a0 | 94 | if( pc.readable()) { |
ryanlin97 | 10:e5463c11e0a0 | 95 | char d = pc.getc(); |
ryanlin97 | 10:e5463c11e0a0 | 96 | if( d == 'm') { |
ryanlin97 | 10:e5463c11e0a0 | 97 | pc.printf("turning off joystick\n"); |
ryanlin97 | 10:e5463c11e0a0 | 98 | manual = false; |
ryanlin97 | 10:e5463c11e0a0 | 99 | } |
ryanlin97 | 10:e5463c11e0a0 | 100 | } |
ryanlin97 | 10:e5463c11e0a0 | 101 | } |
ryanlin97 | 10:e5463c11e0a0 | 102 | } |
ryanlin97 | 6:0cd57bdd8fbc | 103 | |
ryanlin97 | 10:e5463c11e0a0 | 104 | else { |
ryanlin97 | 10:e5463c11e0a0 | 105 | pc.printf("none \n"); |
ryanlin97 | 10:e5463c11e0a0 | 106 | smart.stop(); |
ryanlin97 | 10:e5463c11e0a0 | 107 | } |
ryanlin97 | 10:e5463c11e0a0 | 108 | } |
ryanlin97 | 6:0cd57bdd8fbc | 109 | |
ryanlin97 | 10:e5463c11e0a0 | 110 | else { |
ryanlin97 | 10:e5463c11e0a0 | 111 | // pc.printf("Nothing pressed \n"); |
ryanlin97 | 10:e5463c11e0a0 | 112 | smart.stop(); |
ryanlin97 | 10:e5463c11e0a0 | 113 | } |
ryanlin97 | 10:e5463c11e0a0 | 114 | /* |
ryanlin97 | 6:0cd57bdd8fbc | 115 | smart.move(x,y); |
ryanlin97 | 6:0cd57bdd8fbc | 116 | if( pc.readable()) { |
ryanlin97 | 6:0cd57bdd8fbc | 117 | char c = pc.getc(); |
ryanlin97 | 6:0cd57bdd8fbc | 118 | if( c == 'r') { |
ryanlin97 | 7:5e38d43fbce3 | 119 | smart.turn_right(); |
ryanlin97 | 0:fc0c4a184482 | 120 | } |
ryanlin97 | 8:381a4ec3fef8 | 121 | if( c == 'l') { |
ryanlin97 | 8:381a4ec3fef8 | 122 | smart.turn_left(); |
ryanlin97 | 10:e5463c11e0a0 | 123 | } |
ryanlin97 | 10:e5463c11e0a0 | 124 | }*/ |
ryanlin97 | 6:0cd57bdd8fbc | 125 | wait(process); |
ryanlin97 | 6:0cd57bdd8fbc | 126 | } |
ryanlin97 | 1:c0beadca1617 | 127 | |
ryanlin97 | 0:fc0c4a184482 | 128 | } |
ryanlin97 | 0:fc0c4a184482 | 129 |