Sheila Pham / Version1-9

Added more code for side and angled sensor

Dependencies:   QEI2 PID Watchdog VL53L1X_Filter BNOWrapper ros_lib_kinetic

wheelchair.cpp@41:1a687bcf4b0a, 2019-07-11 (annotated)

Committer:
t1jain
Date:
Thu Jul 11 20:58:26 2019 +0000
Revision:
41:1a687bcf4b0a
Parent:
40:11b8567c507b
Child:
42:62c49ad06707
Cleaned up code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JesiMiranda 35:5a2fed4c2e9f 1 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 2 * Importing header into wheelchair.cpp *
JesiMiranda 35:5a2fed4c2e9f 3 **************************************************************************/
ryanlin97 0:fc0c4a184482 4 #include "wheelchair.h"
t1jain 30:c25b2556e84d 5
JesiMiranda 35:5a2fed4c2e9f 6 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 7 * Defining global variables *
JesiMiranda 35:5a2fed4c2e9f 8 **************************************************************************/
jvfausto 21:3489cffad196 9 bool manual_drive = false; // Variable changes between joystick and auto drive
jvfausto 21:3489cffad196 10 double encoder_distance; // Keeps distanse due to original position
JesiMiranda 35:5a2fed4c2e9f 11
jvfausto 21:3489cffad196 12 volatile double Setpoint, Output, Input, Input2; // Variables for PID
jvfausto 21:3489cffad196 13 volatile double pid_yaw, Distance, Setpoint2, Output2, encoder_distance2; // Variables for PID
jvfausto 21:3489cffad196 14 volatile double vIn, vOut, vDesired; // Variables for PID Velosity
jvfausto 21:3489cffad196 15 volatile double vInS, vOutS, vDesiredS; // Variables for PID Slave Wheel
jvfausto 21:3489cffad196 16 volatile double yIn, yOut, yDesired; // Variables for PID turn velosity
t1jain 30:c25b2556e84d 17 // int* ToFDataPointer1;
t1jain 30:c25b2556e84d 18 // int* ToFDataPointer2;
t1jain 30:c25b2556e84d 19
JesiMiranda 35:5a2fed4c2e9f 20 int ledgeArrayLF[150];
JesiMiranda 35:5a2fed4c2e9f 21 int ledgeArrayRF[150];
t1jain 30:c25b2556e84d 22 int* ToFDataPointer1 = ledgeArrayLF;
t1jain 30:c25b2556e84d 23 int* ToFDataPointer2 = ledgeArrayRF;
JesiMiranda 35:5a2fed4c2e9f 24 Statistics LFTStats(ToFDataPointer1, 149, 1);
JesiMiranda 35:5a2fed4c2e9f 25 Statistics RFTStats(ToFDataPointer2, 149, 1);
t1jain 40:11b8567c507b 26 int k = 0;
t1jain 38:cb87f4e353b9 27
t1jain 38:cb87f4e353b9 28 int ledgeArrayLB[150];
t1jain 38:cb87f4e353b9 29 int ledgeArrayRB[150];
t1jain 38:cb87f4e353b9 30 int* ToFDataPointer3 = ledgeArrayLB;
t1jain 38:cb87f4e353b9 31 int* ToFDataPointer4 = ledgeArrayRB;
t1jain 38:cb87f4e353b9 32 Statistics LBTStats(ToFDataPointer3, 149, 1);
t1jain 38:cb87f4e353b9 33 Statistics RBTStats(ToFDataPointer4, 149, 1);
ryanlin97 11:d14a1f7f1297 34
jvfausto 21:3489cffad196 35 double dist_old, curr_pos; // Variables for odometry position
t1jain 30:c25b2556e84d 36 double outlierToF[4];
jvfausto 19:71a6621ee5c3 37
JesiMiranda 35:5a2fed4c2e9f 38 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 39 * Creating PID objects *
JesiMiranda 35:5a2fed4c2e9f 40 **************************************************************************/
jvfausto 21:3489cffad196 41 PID myPID(&pid_yaw, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT); // Angle PID object constructor
jvfausto 21:3489cffad196 42 PID myPIDDistance(&Input, &Output, &Setpoint, 5.5, .00, 0.002, P_ON_E, DIRECT); // Distance PID object constructor
jvfausto 21:3489cffad196 43 PID PIDVelosity(&vIn, &vOut, &vDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Velosity PID Constructor
jvfausto 21:3489cffad196 44 PID PIDSlaveV(&vInS, &vOutS, &vDesiredS, 5.5, .00, .002, P_ON_E, DIRECT); // Slave Velosity PID Constructor
jvfausto 21:3489cffad196 45 PID PIDAngularV(&yIn, &yOut, &yDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Angular Velosity PID Constructor
JesiMiranda 35:5a2fed4c2e9f 46
jvfausto 19:71a6621ee5c3 47
JesiMiranda 35:5a2fed4c2e9f 48 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 49 * Thread measures current angular position *
JesiMiranda 35:5a2fed4c2e9f 50 **************************************************************************/
JesiMiranda 35:5a2fed4c2e9f 51 void Wheelchair::compass_thread()
JesiMiranda 35:5a2fed4c2e9f 52 {
JesiMiranda 35:5a2fed4c2e9f 53 curr_yaw = imu->yaw();
JesiMiranda 35:5a2fed4c2e9f 54 z_angular = curr_yaw;
jvfausto 21:3489cffad196 55 }
jvfausto 17:7f3b69300bb6 56
JesiMiranda 35:5a2fed4c2e9f 57 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 58 * Thread measures velocity of wheels and distance traveled *
JesiMiranda 35:5a2fed4c2e9f 59 **************************************************************************/
JesiMiranda 35:5a2fed4c2e9f 60 void Wheelchair::velocity_thread()
ryanlin97 1:c0beadca1617 61 {
jvfausto 21:3489cffad196 62 curr_vel = wheel->getVelocity();
jvfausto 21:3489cffad196 63 curr_velS = wheelS->getVelocity();
jvfausto 21:3489cffad196 64 curr_pos = wheel->getDistance(53.975);
ryanlin97 1:c0beadca1617 65 }
ryanlin97 6:0cd57bdd8fbc 66
t1jain 34:b89967adc86c 67 void Wheelchair::emergencyButton_thread ()
t1jain 34:b89967adc86c 68 {
t1jain 34:b89967adc86c 69 while(1) {
t1jain 34:b89967adc86c 70 while(!e_button) {
t1jain 34:b89967adc86c 71
t1jain 34:b89967adc86c 72 //Stop wheelchair
t1jain 34:b89967adc86c 73 Wheelchair::stop();
t1jain 34:b89967adc86c 74 printf("E-button has been pressed\r\n");
t1jain 34:b89967adc86c 75 off->write(high); // Turn off PCB
t1jain 34:b89967adc86c 76 on->write(0); // Make sure PCB not on
t1jain 34:b89967adc86c 77 //Reset Board
t1jain 34:b89967adc86c 78 NVIC_SystemReset();
t1jain 34:b89967adc86c 79
t1jain 34:b89967adc86c 80 }
t1jain 34:b89967adc86c 81
t1jain 34:b89967adc86c 82 }
t1jain 34:b89967adc86c 83 }
t1jain 34:b89967adc86c 84
JesiMiranda 35:5a2fed4c2e9f 85 /*************************************************************************
JesiMiranda 37:e0e6d3fe06a2 86 * Thread checks ToF sensors for safety of wheelchair movement *
JesiMiranda 35:5a2fed4c2e9f 87 **************************************************************************/
t1jain 30:c25b2556e84d 88 void Wheelchair::ToFSafe_thread()
ryanlin97 1:c0beadca1617 89 {
jvfausto 21:3489cffad196 90 int ToFV[12];
JesiMiranda 35:5a2fed4c2e9f 91 for(int i = 0; i < 6; i++) { // Reads from the ToF Sensors
jvfausto 21:3489cffad196 92 ToFV[i] = (*(ToF+i))->readFromOneSensor();
t1jain 32:fb26baa75d44 93 //out->printf("%d ", ToFV[i]);
JesiMiranda 35:5a2fed4c2e9f 94 }
JesiMiranda 35:5a2fed4c2e9f 95
JesiMiranda 35:5a2fed4c2e9f 96 //out->printf("\r\n");
JesiMiranda 35:5a2fed4c2e9f 97
t1jain 40:11b8567c507b 98 k++;
JesiMiranda 35:5a2fed4c2e9f 99
t1jain 40:11b8567c507b 100 if (k == 150) {
t1jain 40:11b8567c507b 101 k = 1;
t1jain 30:c25b2556e84d 102 }
JesiMiranda 35:5a2fed4c2e9f 103
t1jain 40:11b8567c507b 104 ledgeArrayLF[k] = (*(ToF+1))->readFromOneSensor();
t1jain 40:11b8567c507b 105 ledgeArrayRF[k] = (*(ToF+4))->readFromOneSensor();
JesiMiranda 35:5a2fed4c2e9f 106
t1jain 41:1a687bcf4b0a 107 /* for(int i = 0; i < 100; i++)
t1jain 31:06f2362caf12 108 {
t1jain 31:06f2362caf12 109 out->printf("%d, ",ledgeArrayRF[i]);
t1jain 31:06f2362caf12 110 }
t1jain 41:1a687bcf4b0a 111 out->printf("\r\n"); */
t1jain 34:b89967adc86c 112
t1jain 30:c25b2556e84d 113 outlierToF[0] = LFTStats.mean() + 2*LFTStats.stdev();
JesiMiranda 35:5a2fed4c2e9f 114 outlierToF[1] = RFTStats.mean() + 2*RFTStats.stdev();
JesiMiranda 35:5a2fed4c2e9f 115
t1jain 40:11b8567c507b 116 for(int i = 0; i < 2; i++) { // Reads from the ToF Sensors
jvfausto 27:da718b990837 117 runningAverage[i] = ((runningAverage[i]*(4) + ToFV[(i*3)+1]) / 5);
t1jain 30:c25b2556e84d 118 }
JesiMiranda 35:5a2fed4c2e9f 119
jvfausto 27:da718b990837 120 int sensor1 = ToFV[0];
jvfausto 27:da718b990837 121 int sensor4 = ToFV[3];
JesiMiranda 35:5a2fed4c2e9f 122 if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor1 < curr_vel*curr_vel*1000*1000 ||
JesiMiranda 35:5a2fed4c2e9f 123 2 * maxDecelerationSlow*sensor4 < curr_vel*curr_vel*1000*1000) &&
JesiMiranda 35:5a2fed4c2e9f 124 (sensor1 < 1500 || sensor4 < 1500)) ||
JesiMiranda 35:5a2fed4c2e9f 125 550 > sensor1 || 550 > sensor4) {
JesiMiranda 35:5a2fed4c2e9f 126 if(x->read() > def) {
jvfausto 26:662693bd7f31 127 x->write(def);
t1jain 30:c25b2556e84d 128 forwardSafety = 1; // You cannot move forward
jvfausto 26:662693bd7f31 129 }
jvfausto 26:662693bd7f31 130 }
JesiMiranda 35:5a2fed4c2e9f 131
JesiMiranda 35:5a2fed4c2e9f 132 else if(curr_vel > 1 &&((2 * maxDecelerationFast*sensor1 < curr_vel*curr_vel*1000*1000 ||
JesiMiranda 35:5a2fed4c2e9f 133 2 * maxDecelerationFast*sensor4 < curr_vel*curr_vel*1000*1000) &&
JesiMiranda 35:5a2fed4c2e9f 134 (sensor1 < 1500 || sensor4 < 1500)) ||
JesiMiranda 35:5a2fed4c2e9f 135 550 > sensor1 || 550 > sensor4) {
JesiMiranda 35:5a2fed4c2e9f 136 if(x->read() > def) {
jvfausto 21:3489cffad196 137 x->write(def);
t1jain 34:b89967adc86c 138 forwardSafety = 1; // You cannot move forward
jvfausto 21:3489cffad196 139 }
jvfausto 21:3489cffad196 140 }
JesiMiranda 35:5a2fed4c2e9f 141
t1jain 30:c25b2556e84d 142 else if ((runningAverage[0] > outlierToF[0]) || (runningAverage[1] > outlierToF[1])) {
t1jain 30:c25b2556e84d 143 forwardSafety = 1;
t1jain 38:cb87f4e353b9 144 out->printf("I'M STOPPING BECAUSE OF A FRONT LEDGE\r\n");
JesiMiranda 35:5a2fed4c2e9f 145 }
JesiMiranda 35:5a2fed4c2e9f 146
jvfausto 21:3489cffad196 147 else
jvfausto 21:3489cffad196 148 forwardSafety = 0;
t1jain 38:cb87f4e353b9 149
t1jain 38:cb87f4e353b9 150 ////////////////////////////////////////////////////////////////////////////
t1jain 38:cb87f4e353b9 151
t1jain 40:11b8567c507b 152 ledgeArrayLB[k] = (*(ToF+1))->readFromOneSensor();
t1jain 40:11b8567c507b 153 ledgeArrayRB[k] = (*(ToF+4))->readFromOneSensor();
t1jain 38:cb87f4e353b9 154
t1jain 38:cb87f4e353b9 155 outlierToF[2] = LBTStats.mean() + 2*LBTStats.stdev();
t1jain 38:cb87f4e353b9 156 outlierToF[3] = RBTStats.mean() + 2*RBTStats.stdev();
t1jain 38:cb87f4e353b9 157
t1jain 40:11b8567c507b 158 for(int i = 2; i < 4; i++) { // Reads from the ToF Sensors
t1jain 38:cb87f4e353b9 159 runningAverage[i] = ((runningAverage[i]*(4) + ToFV[(i*3)+1]) / 5);
t1jain 38:cb87f4e353b9 160 }
t1jain 38:cb87f4e353b9 161
t1jain 38:cb87f4e353b9 162 int sensor7 = ToFV[6];
t1jain 38:cb87f4e353b9 163 int sensor10 = ToFV[9];
t1jain 38:cb87f4e353b9 164 if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor7 < curr_vel*curr_vel*1000*1000 ||
t1jain 38:cb87f4e353b9 165 2 * maxDecelerationSlow*sensor10 < curr_vel*curr_vel*1000*1000) &&
t1jain 38:cb87f4e353b9 166 (sensor7 < 1500 || sensor10 < 1500)) ||
t1jain 38:cb87f4e353b9 167 550 > sensor7 || 550 > sensor10) {
t1jain 38:cb87f4e353b9 168 if(x->read() > def) {
t1jain 38:cb87f4e353b9 169 x->write(def);
t1jain 39:5438557a8b4e 170 backwardSafety = 1; // You cannot move backwards
t1jain 38:cb87f4e353b9 171 }
t1jain 38:cb87f4e353b9 172 }
t1jain 38:cb87f4e353b9 173
t1jain 38:cb87f4e353b9 174 else if(curr_vel > 1 &&((2 * maxDecelerationFast*sensor1 < curr_vel*curr_vel*1000*1000 ||
t1jain 38:cb87f4e353b9 175 2 * maxDecelerationFast*sensor4 < curr_vel*curr_vel*1000*1000) &&
t1jain 38:cb87f4e353b9 176 (sensor7 < 1500 || sensor10 < 1500)) ||
t1jain 38:cb87f4e353b9 177 550 > sensor7 || 550 > sensor10) {
t1jain 38:cb87f4e353b9 178 if(x->read() > def) {
t1jain 38:cb87f4e353b9 179 x->write(def);
t1jain 39:5438557a8b4e 180 backwardSafety = 1; // You cannot move backwards
t1jain 38:cb87f4e353b9 181 }
t1jain 38:cb87f4e353b9 182 }
t1jain 38:cb87f4e353b9 183
t1jain 38:cb87f4e353b9 184 else if ((runningAverage[2] > outlierToF[2]) || (runningAverage[3] > outlierToF[3])) {
t1jain 38:cb87f4e353b9 185 backwardSafety = 1;
t1jain 38:cb87f4e353b9 186 out->printf("I'M STOPPING BECAUSE OF A BACK LEDGE\r\n");
t1jain 38:cb87f4e353b9 187 }
t1jain 38:cb87f4e353b9 188
t1jain 38:cb87f4e353b9 189 else
t1jain 38:cb87f4e353b9 190 backwardSafety = 0;
t1jain 41:1a687bcf4b0a 191
t1jain 38:cb87f4e353b9 192 ////////////////////////////////////////////////////////////////////////////
JesiMiranda 35:5a2fed4c2e9f 193
JesiMiranda 37:e0e6d3fe06a2 194 /*Side Tof begin*/
t1jain 34:b89967adc86c 195 int sensor3 = ToFV[2]; //front left
t1jain 34:b89967adc86c 196 int sensor6 = ToFV[5]; //front right
t1jain 34:b89967adc86c 197 int sensor9 = ToFV[8]; //back
t1jain 34:b89967adc86c 198 int sensor12 = ToFV[11]; //back
t1jain 34:b89967adc86c 199
JesiMiranda 37:e0e6d3fe06a2 200 double currAngularVelocity = imu->gyro_x(); //Current angular velocity from IMU
JesiMiranda 37:e0e6d3fe06a2 201 double angle = imu->yaw() * 3.14159 / 180; //from IMU, in rads
JesiMiranda 37:e0e6d3fe06a2 202 double arcLength = WheelchairRadius * currAngularVelocity *
JesiMiranda 37:e0e6d3fe06a2 203 currAngularVelocity / (2 * maxAngularDeceleration); //S = r*Ө, in cm
JesiMiranda 37:e0e6d3fe06a2 204
JesiMiranda 37:e0e6d3fe06a2 205 /* Clear the front side first, else continue going straight or can't turn
JesiMiranda 37:e0e6d3fe06a2 206 After clearing the front sideand movinf forward, check if can clear the back
JesiMiranda 37:e0e6d3fe06a2 207 when turning */
JesiMiranda 37:e0e6d3fe06a2 208
JesiMiranda 37:e0e6d3fe06a2 209 //When either sensors too close to the wall, can't turn
JesiMiranda 37:e0e6d3fe06a2 210 if(sensor3 <= minWallLength) {
JesiMiranda 37:e0e6d3fe06a2 211 leftSafety = 1;
JesiMiranda 37:e0e6d3fe06a2 212 out-> printf("Detecting wall to the left!\n");
JesiMiranda 37:e0e6d3fe06a2 213 }
JesiMiranda 37:e0e6d3fe06a2 214 else{
JesiMiranda 37:e0e6d3fe06a2 215 leftSafety = 0;
JesiMiranda 37:e0e6d3fe06a2 216 }
JesiMiranda 37:e0e6d3fe06a2 217
JesiMiranda 37:e0e6d3fe06a2 218 if(sensor6 <= minWallLength) {
JesiMiranda 37:e0e6d3fe06a2 219 rightSafety = 1;
JesiMiranda 37:e0e6d3fe06a2 220 out-> printf("Detecting wall to the right!\n");
JesiMiranda 37:e0e6d3fe06a2 221 }
JesiMiranda 37:e0e6d3fe06a2 222 else {
JesiMiranda 37:e0e6d3fe06a2 223 rightSafety = 0;
t1jain 34:b89967adc86c 224 }
t1jain 34:b89967adc86c 225
JesiMiranda 37:e0e6d3fe06a2 226 /*Check whether safe to keep turning
JesiMiranda 37:e0e6d3fe06a2 227 Know the exact moment you can stop the chair going at a certain speed before
JesiMiranda 37:e0e6d3fe06a2 228 its too late*/
JesiMiranda 37:e0e6d3fe06a2 229 if((currAngularVelocity * currAngularVelocity > 2 *
JesiMiranda 37:e0e6d3fe06a2 230 maxAngularDeceleration * angle) && (sensor3/10 <= arcLength + 10)) {
JesiMiranda 37:e0e6d3fe06a2 231 leftSafety = 1; //Not safe to turn left
JesiMiranda 37:e0e6d3fe06a2 232 out-> printf("Too fast to the left!\n");
JesiMiranda 37:e0e6d3fe06a2 233 }
JesiMiranda 37:e0e6d3fe06a2 234 else{
JesiMiranda 37:e0e6d3fe06a2 235 leftSafety = 0;
JesiMiranda 37:e0e6d3fe06a2 236 }
JesiMiranda 37:e0e6d3fe06a2 237 if((currAngularVelocity * currAngularVelocity > 2 *
JesiMiranda 37:e0e6d3fe06a2 238 maxAngularDeceleration * angle) && (sensor6/10 <= arcLength + 10)) {
JesiMiranda 37:e0e6d3fe06a2 239 rightSafety = 1; //Not safe to turn right
JesiMiranda 37:e0e6d3fe06a2 240 out-> printf("Too fast to the right!\n");
t1jain 34:b89967adc86c 241 }
JesiMiranda 37:e0e6d3fe06a2 242 else{
JesiMiranda 37:e0e6d3fe06a2 243 rightSafety = 0;
JesiMiranda 37:e0e6d3fe06a2 244 }
JesiMiranda 37:e0e6d3fe06a2 245
JesiMiranda 37:e0e6d3fe06a2 246 //Safe to continue turning
JesiMiranda 37:e0e6d3fe06a2 247 //Check if can turn left and back side sensors
t1jain 39:5438557a8b4e 248 // Staring t road and frequenctly checking
JesiMiranda 37:e0e6d3fe06a2 249 //Check the back sensor
JesiMiranda 37:e0e6d3fe06a2 250 /*int sensor7 = ToFV[0]; //back sensor NOTTT SURE
JesiMiranda 37:e0e6d3fe06a2 251 int sensor8 = ToFV[3]; //back sensor
JesiMiranda 37:e0e6d3fe06a2 252
JesiMiranda 37:e0e6d3fe06a2 253 if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor7 < curr_vel*curr_vel*1000*1000 ||
JesiMiranda 37:e0e6d3fe06a2 254 2 * maxDecelerationSlow*sensor8 < curr_vel*curr_vel*1000*1000) &&
JesiMiranda 37:e0e6d3fe06a2 255 (sensor7 < 1500 || sensor8 < 1500)) ||
JesiMiranda 37:e0e6d3fe06a2 256 550 > sensor7 || 550 > sensor8)
JesiMiranda 37:e0e6d3fe06a2 257 {
JesiMiranda 37:e0e6d3fe06a2 258 //out->printf("i am in danger\r\n");
JesiMiranda 37:e0e6d3fe06a2 259 if(x->read() > def)
JesiMiranda 37:e0e6d3fe06a2 260 {
JesiMiranda 37:e0e6d3fe06a2 261 x->write(def);
JesiMiranda 37:e0e6d3fe06a2 262 backwardSafety = 1;// You cannot move backward
JesiMiranda 37:e0e6d3fe06a2 263 }
JesiMiranda 37:e0e6d3fe06a2 264 }
JesiMiranda 37:e0e6d3fe06a2 265 //When going to fast to stop from wall
JesiMiranda 37:e0e6d3fe06a2 266 else if(curr_vel > 1 &&((2 * maxDecelerationFast*sensor7 < curr_vel*curr_vel*1000*1000 ||
JesiMiranda 37:e0e6d3fe06a2 267 2 * maxDecelerationFast*sensor8 < curr_vel*curr_vel*1000*1000) &&
JesiMiranda 37:e0e6d3fe06a2 268 (sensor7 < 1500 || sensor8 < 1500)) ||
JesiMiranda 37:e0e6d3fe06a2 269 550 > sensor7 || 550 > sensor8)
JesiMiranda 37:e0e6d3fe06a2 270 {
JesiMiranda 37:e0e6d3fe06a2 271 //out->printf("i am in danger\r\n");
JesiMiranda 37:e0e6d3fe06a2 272 if(x->read() > def)
JesiMiranda 37:e0e6d3fe06a2 273 {
JesiMiranda 37:e0e6d3fe06a2 274 x->write(def);
JesiMiranda 37:e0e6d3fe06a2 275 backwardSafety = 1;
JesiMiranda 37:e0e6d3fe06a2 276 }
JesiMiranda 37:e0e6d3fe06a2 277 }*/
JesiMiranda 37:e0e6d3fe06a2 278
JesiMiranda 37:e0e6d3fe06a2 279 /*Side Tof end*/
JesiMiranda 37:e0e6d3fe06a2 280
jvfausto 21:3489cffad196 281 }
ryanlin97 6:0cd57bdd8fbc 282
JesiMiranda 35:5a2fed4c2e9f 283 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 284 * Constructor for Wheelchair class *
JesiMiranda 35:5a2fed4c2e9f 285 **************************************************************************/
JesiMiranda 35:5a2fed4c2e9f 286 Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS,
JesiMiranda 35:5a2fed4c2e9f 287 VL53L1X** ToFT)
jvfausto 21:3489cffad196 288 {
jvfausto 21:3489cffad196 289 x_position = 0;
jvfausto 21:3489cffad196 290 y_position = 0;
jvfausto 21:3489cffad196 291 forwardSafety = 0;
t1jain 39:5438557a8b4e 292 backwardSafety = 0;
JesiMiranda 35:5a2fed4c2e9f 293
jvfausto 21:3489cffad196 294 /* Initializes X and Y variables to Pins */
JesiMiranda 35:5a2fed4c2e9f 295 x = new PwmOut(xPin);
jvfausto 21:3489cffad196 296 y = new PwmOut(yPin);
JesiMiranda 35:5a2fed4c2e9f 297
jvfausto 21:3489cffad196 298 /* Initializes IMU Library */
jvfausto 26:662693bd7f31 299 out = pc; // "out" is called for serial monitor
jvfausto 26:662693bd7f31 300 out->printf("on\r\n");
JesiMiranda 37:e0e6d3fe06a2 301 imu = new IMUWheelchair(pc, time);
jvfausto 21:3489cffad196 302 Wheelchair::stop(); // Wheelchair is initially stationary
jvfausto 21:3489cffad196 303 imu->setup(); // turns on the IMU
jvfausto 21:3489cffad196 304 wheelS = qeiS; // "wheel" is called for encoder
JesiMiranda 35:5a2fed4c2e9f 305 wheel = qei;
jvfausto 21:3489cffad196 306 ToF = ToFT; // passes pointer with addresses of ToF sensors
JesiMiranda 35:5a2fed4c2e9f 307
JesiMiranda 35:5a2fed4c2e9f 308 for(int i = 0; i < 12; i++) { // initializes the ToF Sensors
jvfausto 21:3489cffad196 309 (*(ToF+i))->initReading(0x31+((0x02)*i), 50000);
jvfausto 21:3489cffad196 310 }
JesiMiranda 35:5a2fed4c2e9f 311
jvfausto 21:3489cffad196 312 out->printf("wheelchair setup done \r\n"); // Make sure it initialized; prints in serial monitor
jvfausto 21:3489cffad196 313 ti = time;
JesiMiranda 35:5a2fed4c2e9f 314 for(int i = 0; i < 10; i++) {
JesiMiranda 35:5a2fed4c2e9f 315 (*(ToF+1))->readFromOneSensor();
JesiMiranda 35:5a2fed4c2e9f 316 (*(ToF+1))->readFromOneSensor();
t1jain 31:06f2362caf12 317 }
JesiMiranda 35:5a2fed4c2e9f 318 for(int i = 0; i < 150; i++) {
jvfausto 27:da718b990837 319 ledgeArrayLF[i] = (*(ToF+1))->readFromOneSensor();
t1jain 30:c25b2556e84d 320 ledgeArrayRF[i] = (*(ToF+4))->readFromOneSensor();
jvfausto 27:da718b990837 321 }
JesiMiranda 35:5a2fed4c2e9f 322
t1jain 30:c25b2556e84d 323 outlierToF[0] = LFTStats.mean() + 2*LFTStats.stdev();
t1jain 30:c25b2556e84d 324 outlierToF[1] = RFTStats.mean() + 2*RFTStats.stdev();
t1jain 34:b89967adc86c 325
jvfausto 21:3489cffad196 326 myPID.SetMode(AUTOMATIC); // PID mode: Automatic
jvfausto 21:3489cffad196 327 }
jvfausto 21:3489cffad196 328
JesiMiranda 35:5a2fed4c2e9f 329 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 330 * Move wheelchair with joystick on manual mode *
JesiMiranda 35:5a2fed4c2e9f 331 **************************************************************************/
JesiMiranda 35:5a2fed4c2e9f 332 void Wheelchair::move(float x_coor, float y_coor)
jvfausto 21:3489cffad196 333 {
JesiMiranda 35:5a2fed4c2e9f 334 /* Scales one joystick measurement to the chair's joystick measurement */
ryanlin97 4:29a27953fe70 335 float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
ryanlin97 4:29a27953fe70 336 float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
jvfausto 21:3489cffad196 337
JesiMiranda 35:5a2fed4c2e9f 338 /* Sends the scaled joystic values to the chair */
JesiMiranda 35:5a2fed4c2e9f 339 x->write(scaled_x);
ryanlin97 4:29a27953fe70 340 y->write(scaled_y);
ryanlin97 5:e0ccaab3959a 341 }
JesiMiranda 35:5a2fed4c2e9f 342
JesiMiranda 35:5a2fed4c2e9f 343
JesiMiranda 35:5a2fed4c2e9f 344 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 345 * Automatic mode: move forward and update x,y coordinate sent to chair *
JesiMiranda 35:5a2fed4c2e9f 346 **************************************************************************/
JesiMiranda 35:5a2fed4c2e9f 347 void Wheelchair::forward()
ryanlin97 1:c0beadca1617 348 {
jvfausto 26:662693bd7f31 349 //printf("current velosity; %f, curr vel S %f\r\n", curr_vel, curr_velS);
JesiMiranda 35:5a2fed4c2e9f 350 if(forwardSafety == 0) {
JesiMiranda 35:5a2fed4c2e9f 351 x->write(high);
JesiMiranda 35:5a2fed4c2e9f 352 y->write(def+offset);
jvfausto 21:3489cffad196 353 }
jvfausto 26:662693bd7f31 354 out->printf("%f, %f\r\n", curr_pos, wheelS->getDistance(53.975));
ryanlin97 0:fc0c4a184482 355 }
JesiMiranda 35:5a2fed4c2e9f 356
JesiMiranda 35:5a2fed4c2e9f 357 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 358 * Automatic mode: move in reverse and update x,y coordinate sent to chair*
JesiMiranda 35:5a2fed4c2e9f 359 **************************************************************************/
JesiMiranda 35:5a2fed4c2e9f 360 void Wheelchair::backward()
ryanlin97 1:c0beadca1617 361 {
t1jain 39:5438557a8b4e 362 if (backwardSafety == 0) {
t1jain 39:5438557a8b4e 363 x->write(low);
t1jain 39:5438557a8b4e 364 y->write(def);
t1jain 39:5438557a8b4e 365 }
ryanlin97 0:fc0c4a184482 366 }
JesiMiranda 35:5a2fed4c2e9f 367 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 368 * Automatic mode: move right and update x,y coordinate sent to chair *
JesiMiranda 35:5a2fed4c2e9f 369 **************************************************************************/
JesiMiranda 35:5a2fed4c2e9f 370 void Wheelchair::right()
ryanlin97 1:c0beadca1617 371 {
t1jain 34:b89967adc86c 372 //if safe to move, from ToFSafety
JesiMiranda 37:e0e6d3fe06a2 373 if(rightSafety == 0) {
JesiMiranda 35:5a2fed4c2e9f 374 x->write(def);
JesiMiranda 35:5a2fed4c2e9f 375 y->write(low);
t1jain 34:b89967adc86c 376 }
ryanlin97 0:fc0c4a184482 377 }
JesiMiranda 35:5a2fed4c2e9f 378 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 379 * Automatic mode: move left and update x,y coordinate sent to chair *
JesiMiranda 35:5a2fed4c2e9f 380 **************************************************************************/
JesiMiranda 35:5a2fed4c2e9f 381 void Wheelchair::left()
ryanlin97 1:c0beadca1617 382 {
t1jain 34:b89967adc86c 383 //if safe to move, from ToFSafety
JesiMiranda 37:e0e6d3fe06a2 384 if(leftSafety == 0) {
t1jain 34:b89967adc86c 385 x->write(def);
t1jain 34:b89967adc86c 386 y->write(high);
t1jain 34:b89967adc86c 387 }
ryanlin97 0:fc0c4a184482 388 }
JesiMiranda 35:5a2fed4c2e9f 389 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 390 * Stop the wheelchair *
JesiMiranda 35:5a2fed4c2e9f 391 **************************************************************************/
JesiMiranda 35:5a2fed4c2e9f 392 void Wheelchair::stop()
ryanlin97 1:c0beadca1617 393 {
ryanlin97 0:fc0c4a184482 394 x->write(def);
ryanlin97 0:fc0c4a184482 395 y->write(def);
ryanlin97 6:0cd57bdd8fbc 396 }
JesiMiranda 35:5a2fed4c2e9f 397 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 398 * Counter-clockwise is ( - ) *
JesiMiranda 35:5a2fed4c2e9f 399 * Clockwise is ( + ) *
JesiMiranda 35:5a2fed4c2e9f 400 * Range of deg: 0 to 360 *
JesiMiranda 35:5a2fed4c2e9f 401 * This method takes in an angle from user and adjusts for turning right *
JesiMiranda 35:5a2fed4c2e9f 402 **************************************************************************/
jvfausto 21:3489cffad196 403 void Wheelchair::pid_right(int deg)
ryanlin97 12:921488918749 404 {
t1jain 33:f3585571f11e 405 bool overturn = false; // Boolean if angle over 360˚
JesiMiranda 35:5a2fed4c2e9f 406
JesiMiranda 35:5a2fed4c2e9f 407 out->printf("pid right\r\r\n");
jvfausto 21:3489cffad196 408 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 409 Setpoint = curr_yaw + deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 410 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
JesiMiranda 35:5a2fed4c2e9f 411
jvfausto 21:3489cffad196 412 /* Turns on overturn boolean if setpoint over 360˚ */
JesiMiranda 35:5a2fed4c2e9f 413 if(Setpoint > 360) {
ryanlin97 12:921488918749 414 overturn = true;
ryanlin97 12:921488918749 415 }
JesiMiranda 35:5a2fed4c2e9f 416
jvfausto 21:3489cffad196 417 myPID.SetTunings(5.5,0, 0.0035); // Sets the constants for P and D
jvfausto 21:3489cffad196 418 myPID.SetOutputLimits(0, def-low-.15); // Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 419 myPID.SetControllerDirection(DIRECT); // PID mode: Direct
JesiMiranda 35:5a2fed4c2e9f 420
JesiMiranda 35:5a2fed4c2e9f 421 /* PID stops when approaching a litte less than desired angle */
JesiMiranda 35:5a2fed4c2e9f 422 while(pid_yaw < Setpoint - 3) {
jvfausto 21:3489cffad196 423 /* PID is set to correct angle range if angle greater than 360˚*/
JesiMiranda 35:5a2fed4c2e9f 424 if(overturn && curr_yaw < Setpoint-deg-1) {
JesiMiranda 35:5a2fed4c2e9f 425 pid_yaw = curr_yaw + 360;
JesiMiranda 35:5a2fed4c2e9f 426 } else {
jvfausto 17:7f3b69300bb6 427 pid_yaw = curr_yaw;
ryanlin97 12:921488918749 428 }
JesiMiranda 35:5a2fed4c2e9f 429
jvfausto 21:3489cffad196 430 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 431 double tempor = -Output+def; // Temporary value with the voltage output
JesiMiranda 35:5a2fed4c2e9f 432 y->write(tempor); // Update y sent to chair
JesiMiranda 35:5a2fed4c2e9f 433
jvfausto 21:3489cffad196 434 /* Prints to serial monitor the current angle and setpoint */
JesiMiranda 35:5a2fed4c2e9f 435 out->printf("curr_yaw %f\r\r\n", curr_yaw);
jvfausto 21:3489cffad196 436 out->printf("Setpoint = %f \r\n", Setpoint);
JesiMiranda 35:5a2fed4c2e9f 437
jvfausto 21:3489cffad196 438 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 439 }
JesiMiranda 35:5a2fed4c2e9f 440
jvfausto 21:3489cffad196 441 /* Saftey stop for wheelchair */
JesiMiranda 35:5a2fed4c2e9f 442 Wheelchair::stop();
jvfausto 21:3489cffad196 443 out->printf("done \r\n");
jvfausto 21:3489cffad196 444 }
JesiMiranda 35:5a2fed4c2e9f 445 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 446 * Counter-clockwise is ( - ) *
JesiMiranda 35:5a2fed4c2e9f 447 * Clockwise is ( + ) *
JesiMiranda 35:5a2fed4c2e9f 448 * Range of deg: 0 to 360 *
JesiMiranda 35:5a2fed4c2e9f 449 * This method takes in an angle from user and adjusts for turning left *
JesiMiranda 35:5a2fed4c2e9f 450 **************************************************************************/
JesiMiranda 35:5a2fed4c2e9f 451 void Wheelchair::pid_left(int deg)
ryanlin97 12:921488918749 452 {
jvfausto 21:3489cffad196 453 bool overturn = false; //Boolean if angle under 0˚
JesiMiranda 35:5a2fed4c2e9f 454
JesiMiranda 35:5a2fed4c2e9f 455 out->printf("pid Left\r\r\n");
jvfausto 21:3489cffad196 456 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 457 Setpoint = curr_yaw - deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 458 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
JesiMiranda 35:5a2fed4c2e9f 459
jvfausto 21:3489cffad196 460 /* Turns on overturn boolean if setpoint less than 0˚ */
JesiMiranda 35:5a2fed4c2e9f 461 if(Setpoint < 0) {
ryanlin97 12:921488918749 462 overturn = true;
ryanlin97 12:921488918749 463 }
JesiMiranda 35:5a2fed4c2e9f 464
jvfausto 21:3489cffad196 465 myPID.SetTunings(5,0, 0.004); // Sets the constants for P and D
t1jain 33:f3585571f11e 466 myPID.SetOutputLimits(0,high-def-.12); // Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 467 myPID.SetControllerDirection(REVERSE); // PID mode: Reverse
JesiMiranda 35:5a2fed4c2e9f 468
jvfausto 21:3489cffad196 469 /* PID stops when approaching a litte more than desired angle */
JesiMiranda 35:5a2fed4c2e9f 470 while(pid_yaw > Setpoint+3) {
JesiMiranda 35:5a2fed4c2e9f 471 /* PID is set to correct angle range if angle less than 0˚ */
JesiMiranda 35:5a2fed4c2e9f 472 if(overturn && curr_yaw > Setpoint+deg+1) {
JesiMiranda 35:5a2fed4c2e9f 473 pid_yaw = curr_yaw - 360;
JesiMiranda 35:5a2fed4c2e9f 474 } else {
JesiMiranda 35:5a2fed4c2e9f 475 pid_yaw = curr_yaw;
JesiMiranda 35:5a2fed4c2e9f 476 }
JesiMiranda 35:5a2fed4c2e9f 477
jvfausto 21:3489cffad196 478 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 479 double tempor = Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 480 y->write(tempor); // Update y sent to chair
JesiMiranda 35:5a2fed4c2e9f 481
jvfausto 21:3489cffad196 482 /* Prints to serial monitor the current angle and setpoint */
jvfausto 17:7f3b69300bb6 483 out->printf("curr_yaw %f\r\n", curr_yaw);
jvfausto 21:3489cffad196 484 out->printf("Setpoint = %f \r\n", Setpoint);
JesiMiranda 35:5a2fed4c2e9f 485
jvfausto 21:3489cffad196 486 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 487 }
JesiMiranda 35:5a2fed4c2e9f 488
JesiMiranda 35:5a2fed4c2e9f 489 /* Saftey stop for wheelchair */
JesiMiranda 35:5a2fed4c2e9f 490 Wheelchair::stop();
jvfausto 21:3489cffad196 491 out->printf("done \r\n");
ryanlin97 12:921488918749 492
jvfausto 21:3489cffad196 493 }
JesiMiranda 35:5a2fed4c2e9f 494
JesiMiranda 35:5a2fed4c2e9f 495 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 496 * This method determines whether to turn left or right *
JesiMiranda 35:5a2fed4c2e9f 497 **************************************************************************/
JesiMiranda 35:5a2fed4c2e9f 498 void Wheelchair::pid_turn(int deg)
JesiMiranda 35:5a2fed4c2e9f 499 {
JesiMiranda 35:5a2fed4c2e9f 500
JesiMiranda 35:5a2fed4c2e9f 501 /*****************************************************************
JesiMiranda 35:5a2fed4c2e9f 502 * Sets angle to coterminal angle for left turn if deg > 180 *
JesiMiranda 35:5a2fed4c2e9f 503 * Sets angle to coterminal angle for right turn if deg < -180 *
JesiMiranda 35:5a2fed4c2e9f 504 *****************************************************************/
JesiMiranda 35:5a2fed4c2e9f 505 if(deg > 180) {
ryanlin97 12:921488918749 506 deg -= 360;
JesiMiranda 35:5a2fed4c2e9f 507 } else if(deg < -180) {
JesiMiranda 35:5a2fed4c2e9f 508 deg +=360;
ryanlin97 12:921488918749 509 }
JesiMiranda 35:5a2fed4c2e9f 510
jvfausto 21:3489cffad196 511 /* Makes sure angle inputted to function is positive */
ryanlin97 12:921488918749 512 int turnAmt = abs(deg);
JesiMiranda 35:5a2fed4c2e9f 513
jvfausto 21:3489cffad196 514 /* Calls PID_right if deg > 0, else calls PID_left if deg < 0 */
JesiMiranda 35:5a2fed4c2e9f 515 if(deg >= 0) {
JesiMiranda 35:5a2fed4c2e9f 516 Wheelchair::pid_right(turnAmt);
JesiMiranda 35:5a2fed4c2e9f 517 } else {
JesiMiranda 35:5a2fed4c2e9f 518 Wheelchair::pid_left(turnAmt);
jvfausto 21:3489cffad196 519 }
ryanlin97 12:921488918749 520
jvfausto 21:3489cffad196 521 }
jvfausto 21:3489cffad196 522
JesiMiranda 35:5a2fed4c2e9f 523 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 524 * This method takes in distance to travel and adjust to move forward *
JesiMiranda 35:5a2fed4c2e9f 525 **************************************************************************/
jvfausto 19:71a6621ee5c3 526 void Wheelchair::pid_forward(double mm)
jvfausto 17:7f3b69300bb6 527 {
jvfausto 21:3489cffad196 528 mm -= 20; // Makes sure distance does not overshoot
jvfausto 21:3489cffad196 529 Input = 0; // Initializes input to zero: Test latter w/o
jvfausto 21:3489cffad196 530 wheel->reset(); // Resets encoders so that they start at 0
JesiMiranda 35:5a2fed4c2e9f 531
jvfausto 17:7f3b69300bb6 532 out->printf("pid foward\r\n");
JesiMiranda 35:5a2fed4c2e9f 533
jvfausto 21:3489cffad196 534 double tempor; // Initializes Temporary variable for x input
jvfausto 21:3489cffad196 535 Setpoint = mm; // Initializes the setpoint to desired value
JesiMiranda 35:5a2fed4c2e9f 536
jvfausto 21:3489cffad196 537 myPIDDistance.SetTunings(5.5,0, 0.0015); // Sets constants for P and D
JesiMiranda 35:5a2fed4c2e9f 538 myPIDDistance.SetOutputLimits(0,high-def-.15); // Limit set to difference between high and def
jvfausto 21:3489cffad196 539 myPIDDistance.SetControllerDirection(DIRECT); // PID mode: Direct
JesiMiranda 35:5a2fed4c2e9f 540
jvfausto 21:3489cffad196 541 y->write(def+offset); // Update y to make chair stationary
JesiMiranda 35:5a2fed4c2e9f 542
jvfausto 21:3489cffad196 543 /* Chair stops moving when Setpoint is reached */
JesiMiranda 35:5a2fed4c2e9f 544 while(Input < Setpoint) {
JesiMiranda 35:5a2fed4c2e9f 545
JesiMiranda 35:5a2fed4c2e9f 546 if(out->readable()) { // Emergency Break
jvfausto 21:3489cffad196 547 break;
jvfausto 21:3489cffad196 548 }
jvfausto 17:7f3b69300bb6 549
jvfausto 21:3489cffad196 550 Input = wheel->getDistance(53.975); // Gets distance from Encoder into PID
jvfausto 21:3489cffad196 551 wait(.05); // Slight Delay: *****Test without
jvfausto 21:3489cffad196 552 myPIDDistance.Compute(); // Compute distance traveled by chair
JesiMiranda 35:5a2fed4c2e9f 553
JesiMiranda 35:5a2fed4c2e9f 554 tempor = Output + def; // Temporary output variable
jvfausto 21:3489cffad196 555 x->write(tempor); // Update x sent to chair
jvfausto 17:7f3b69300bb6 556
jvfausto 21:3489cffad196 557 /* Prints to serial monitor the distance traveled by chair */
jvfausto 19:71a6621ee5c3 558 out->printf("distance %f\r\n", Input);
JesiMiranda 35:5a2fed4c2e9f 559 }
JesiMiranda 35:5a2fed4c2e9f 560
JesiMiranda 35:5a2fed4c2e9f 561 }
jvfausto 21:3489cffad196 562
JesiMiranda 35:5a2fed4c2e9f 563 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 564 * This method returns the relative angular position of chair *
JesiMiranda 35:5a2fed4c2e9f 565 **************************************************************************/
jvfausto 21:3489cffad196 566 double Wheelchair::getTwistZ()
jvfausto 17:7f3b69300bb6 567 {
jvfausto 21:3489cffad196 568 return imu->gyro_z();
JesiMiranda 35:5a2fed4c2e9f 569 }
jvfausto 18:663b6d693252 570
JesiMiranda 35:5a2fed4c2e9f 571 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 572 * This method computes the relative angle for Twist message in ROS *
JesiMiranda 35:5a2fed4c2e9f 573 **************************************************************************/
jvfausto 21:3489cffad196 574 void Wheelchair::pid_twistA()
jvfausto 21:3489cffad196 575 {
jvfausto 21:3489cffad196 576 /* Initialize variables for angle and update x,y sent to chair */
jvfausto 21:3489cffad196 577 char c;
jvfausto 21:3489cffad196 578 double temporA = def;
JesiMiranda 35:5a2fed4c2e9f 579 y->write(def);
JesiMiranda 35:5a2fed4c2e9f 580 x->write(def);
JesiMiranda 35:5a2fed4c2e9f 581
jvfausto 21:3489cffad196 582 PIDAngularV.SetTunings(.00015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 583 PIDAngularV.SetOutputLimits(-.1, .1); // Limit set to be in range specified
jvfausto 21:3489cffad196 584 PIDAngularV.SetControllerDirection(DIRECT); // PID mode: Direct
JesiMiranda 35:5a2fed4c2e9f 585
jvfausto 21:3489cffad196 586 /* Computes angular position of wheelchair while turning */
JesiMiranda 35:5a2fed4c2e9f 587 while(1) {
jvfausto 21:3489cffad196 588 yDesired = angularV;
JesiMiranda 35:5a2fed4c2e9f 589
jvfausto 21:3489cffad196 590 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 591 * if the desired angle is zero
jvfausto 21:3489cffad196 592 */
JesiMiranda 35:5a2fed4c2e9f 593 if(yDesired == 0) {
jvfausto 21:3489cffad196 594 x->write(def);
jvfausto 21:3489cffad196 595 y->write(def);
jvfausto 21:3489cffad196 596 yDesired = 0;
ryanlin97 8:381a4ec3fef8 597 return;
ryanlin97 7:5e38d43fbce3 598 }
JesiMiranda 35:5a2fed4c2e9f 599
jvfausto 21:3489cffad196 600 /* Continuously updates with current angle measured by IMU */
JesiMiranda 35:5a2fed4c2e9f 601 yIn = imu->gyro_z();
jvfausto 21:3489cffad196 602 PIDAngularV.Compute();
jvfausto 21:3489cffad196 603 temporA += yOut; // Temporary value with the voltage output
jvfausto 21:3489cffad196 604 y->write(temporA); // Update y sent to chair
JesiMiranda 35:5a2fed4c2e9f 605
jvfausto 21:3489cffad196 606 //out->printf("temporA: %f, yDesired %f, angle: %f\r\n", temporA, yDesired, imu->gyro_z());
jvfausto 21:3489cffad196 607 wait(.05); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 608 }
JesiMiranda 35:5a2fed4c2e9f 609
JesiMiranda 35:5a2fed4c2e9f 610 }
ryanlin97 6:0cd57bdd8fbc 611
JesiMiranda 35:5a2fed4c2e9f 612 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 613 * This method computes the relative velocity for Twist message in ROS *
JesiMiranda 35:5a2fed4c2e9f 614 **************************************************************************/
jvfausto 21:3489cffad196 615 void Wheelchair::pid_twistV()
ryanlin97 6:0cd57bdd8fbc 616 {
jvfausto 21:3489cffad196 617 /* Initializes variables as default */
jvfausto 21:3489cffad196 618 double temporV = def;
jvfausto 26:662693bd7f31 619 double temporS = def+offset;
jvfausto 21:3489cffad196 620 vDesiredS = 0;
jvfausto 21:3489cffad196 621 x->write(def);
jvfausto 21:3489cffad196 622 y->write(def);
jvfausto 21:3489cffad196 623 wheel->reset(); // Resets the encoders
jvfausto 21:3489cffad196 624 /* Sets the constants for P and D */
JesiMiranda 35:5a2fed4c2e9f 625 PIDVelosity.SetTunings(.0005,0, 0.00);
JesiMiranda 35:5a2fed4c2e9f 626 PIDSlaveV.SetTunings(.005,0.000001, 0.000001);
JesiMiranda 35:5a2fed4c2e9f 627
jvfausto 21:3489cffad196 628 /* Limits to the range specified */
JesiMiranda 35:5a2fed4c2e9f 629 PIDVelosity.SetOutputLimits(-.005, .005);
JesiMiranda 35:5a2fed4c2e9f 630 PIDSlaveV.SetOutputLimits(-.002, .002);
JesiMiranda 35:5a2fed4c2e9f 631
jvfausto 21:3489cffad196 632 /* PID mode: Direct */
JesiMiranda 35:5a2fed4c2e9f 633 PIDVelosity.SetControllerDirection(DIRECT);
JesiMiranda 35:5a2fed4c2e9f 634 PIDSlaveV.SetControllerDirection(DIRECT);
JesiMiranda 35:5a2fed4c2e9f 635
JesiMiranda 35:5a2fed4c2e9f 636 while(1) {
jvfausto 21:3489cffad196 637 linearV = .7;
jvfausto 21:3489cffad196 638 test1 = linearV*100;
jvfausto 21:3489cffad196 639 vel = curr_vel;
jvfausto 21:3489cffad196 640 vDesired = linearV*100;
jvfausto 21:3489cffad196 641 if(out->readable())
jvfausto 21:3489cffad196 642 return;
JesiMiranda 35:5a2fed4c2e9f 643 /* Update and set all variable so that the chair is stationary
JesiMiranda 35:5a2fed4c2e9f 644 * if the velocity is zero
JesiMiranda 35:5a2fed4c2e9f 645 */
JesiMiranda 35:5a2fed4c2e9f 646 if(linearV == 0) {
jvfausto 21:3489cffad196 647 x->write(def);
jvfausto 21:3489cffad196 648 y->write(def);
ryanlin97 8:381a4ec3fef8 649
jvfausto 21:3489cffad196 650 vel = 0;
jvfausto 21:3489cffad196 651 vDesired = 0;
jvfausto 21:3489cffad196 652 dist_old = 0;
ryanlin97 8:381a4ec3fef8 653 return;
ryanlin97 8:381a4ec3fef8 654 }
JesiMiranda 35:5a2fed4c2e9f 655
JesiMiranda 35:5a2fed4c2e9f 656 if(vDesired >= 0) {
jvfausto 21:3489cffad196 657 PIDVelosity.SetTunings(.000004,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 658 PIDVelosity.SetOutputLimits(-.002, .002); // Limits to the range specified
JesiMiranda 35:5a2fed4c2e9f 659 } else {
jvfausto 21:3489cffad196 660 PIDVelosity.SetTunings(.000015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 661 PIDVelosity.SetOutputLimits(-.0005, .0005); // Limits to range specified
JesiMiranda 35:5a2fed4c2e9f 662 }
JesiMiranda 35:5a2fed4c2e9f 663
jvfausto 21:3489cffad196 664 /* Sets maximum value of variable to 1 */
JesiMiranda 35:5a2fed4c2e9f 665 if(temporV >= 1.5) {
jvfausto 21:3489cffad196 666 temporV = 1.5;
ryanlin97 8:381a4ec3fef8 667 }
jvfausto 21:3489cffad196 668 /* Scales and makes some adjustments to velocity */
jvfausto 21:3489cffad196 669 vIn = curr_vel*100;
jvfausto 21:3489cffad196 670 vInS = curr_vel-curr_velS;
jvfausto 21:3489cffad196 671 PIDVelosity.Compute();
jvfausto 21:3489cffad196 672 PIDSlaveV.Compute();
JesiMiranda 35:5a2fed4c2e9f 673 if(forwardSafety == 0) {
JesiMiranda 35:5a2fed4c2e9f 674 temporV += vOut;
JesiMiranda 35:5a2fed4c2e9f 675 temporS += vOutS;
JesiMiranda 35:5a2fed4c2e9f 676
JesiMiranda 35:5a2fed4c2e9f 677 /* Updates x,y sent to Wheelchair and for Odometry message in ROS */
JesiMiranda 35:5a2fed4c2e9f 678 x->write(temporV);
JesiMiranda 35:5a2fed4c2e9f 679 test2 = temporV;
JesiMiranda 35:5a2fed4c2e9f 680 y->write(temporS);
JesiMiranda 35:5a2fed4c2e9f 681 } else {
jvfausto 21:3489cffad196 682 x->write(def);
jvfausto 21:3489cffad196 683 y->write(def);
jvfausto 21:3489cffad196 684 }
jvfausto 21:3489cffad196 685 //out->printf("Velosity: %f, Velosity2: %f, temporV %f, temporS %f\r\n", curr_vel, curr_velS, temporV, temporS);
jvfausto 21:3489cffad196 686 Wheelchair::odomMsg();
jvfausto 21:3489cffad196 687 wait(.01); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 688 }
ryanlin97 11:d14a1f7f1297 689 }
ryanlin97 11:d14a1f7f1297 690
JesiMiranda 35:5a2fed4c2e9f 691 /*************************************************************************
JesiMiranda 35:5a2fed4c2e9f 692 * This method calculates the relative position of the chair everytime the*
JesiMiranda 35:5a2fed4c2e9f 693 * encoders reset by setting its old position as the origin to calculate *
JesiMiranda 35:5a2fed4c2e9f 694 * the new position *
JesiMiranda 35:5a2fed4c2e9f 695 **************************************************************************/
jvfausto 21:3489cffad196 696 void Wheelchair::odomMsg()
ryanlin97 11:d14a1f7f1297 697 {
jvfausto 21:3489cffad196 698 double dist_new = curr_pos;
jvfausto 21:3489cffad196 699 double dist = dist_new-dist_old;
jvfausto 21:3489cffad196 700 double temp_x = dist*sin(z_angular*3.14159/180);
jvfausto 21:3489cffad196 701 double temp_y = dist*cos(z_angular*3.14159/180);
JesiMiranda 35:5a2fed4c2e9f 702
jvfausto 21:3489cffad196 703 x_position += temp_x;
jvfausto 21:3489cffad196 704 y_position += temp_y;
JesiMiranda 35:5a2fed4c2e9f 705
jvfausto 21:3489cffad196 706 dist_old = dist_new;
JesiMiranda 35:5a2fed4c2e9f 707 }
jvfausto 21:3489cffad196 708
JesiMiranda 35:5a2fed4c2e9f 709 /**************************************************************************
JesiMiranda 35:5a2fed4c2e9f 710 * This method prints the Odometry message to the serial monitor *
JesiMiranda 35:5a2fed4c2e9f 711 ***************************************************************************/
JesiMiranda 35:5a2fed4c2e9f 712 void Wheelchair::showOdom()
JesiMiranda 35:5a2fed4c2e9f 713 {
JesiMiranda 35:5a2fed4c2e9f 714 out->printf("x %f, y %f, angle %f", x_position, y_position, z_angular);
JesiMiranda 35:5a2fed4c2e9f 715 }
jvfausto 21:3489cffad196 716
JesiMiranda 35:5a2fed4c2e9f 717 /**************************************************************************
JesiMiranda 35:5a2fed4c2e9f 718 * This method returns the approximate distance based on the wheel diameter*
JesiMiranda 35:5a2fed4c2e9f 719 ***************************************************************************/
jvfausto 21:3489cffad196 720 float Wheelchair::getDistance()
jvfausto 21:3489cffad196 721 {
jvfausto 21:3489cffad196 722 return wheel->getDistance(Diameter);
ryanlin97 6:0cd57bdd8fbc 723 }
ryanlin97 8:381a4ec3fef8 724
JesiMiranda 35:5a2fed4c2e9f 725 /**************************************************************************
JesiMiranda 35:5a2fed4c2e9f 726 * This method resets the Encoder's *
JesiMiranda 35:5a2fed4c2e9f 727 ***************************************************************************/
jvfausto 21:3489cffad196 728 void Wheelchair::resetDistance()
jvfausto 21:3489cffad196 729 {
ryanlin97 12:921488918749 730 wheel->reset();
jvfausto 21:3489cffad196 731 }
jvfausto 21:3489cffad196 732
JesiMiranda 35:5a2fed4c2e9f 733 /*---------------------------------------------------------------------------------------------------*/
JesiMiranda 35:5a2fed4c2e9f 734 /*---------------------------------------------------------------------------------------------------*/
JesiMiranda 35:5a2fed4c2e9f 735 /*---------------------------------------------------------------------------------------------------*/
JesiMiranda 35:5a2fed4c2e9f 736 /*---------------------------------------------------------------------------------------------------*/
JesiMiranda 35:5a2fed4c2e9f 737 /*---------------------------------------------------------------------------------------------------*/
jvfausto 21:3489cffad196 738
JesiMiranda 35:5a2fed4c2e9f 739 /*Predetermined paths For Demmo*/
JesiMiranda 35:5a2fed4c2e9f 740 void Wheelchair::desk()
jvfausto 21:3489cffad196 741 {
jvfausto 19:71a6621ee5c3 742 Wheelchair::pid_forward(5461);
jvfausto 19:71a6621ee5c3 743 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 744 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 745 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 746 Wheelchair::pid_forward(3658);
jvfausto 21:3489cffad196 747 }
JesiMiranda 35:5a2fed4c2e9f 748
JesiMiranda 35:5a2fed4c2e9f 749 void Wheelchair::kitchen()
jvfausto 21:3489cffad196 750 {
jvfausto 19:71a6621ee5c3 751 Wheelchair::pid_forward(5461);
jvfausto 20:f42db4ae16f0 752 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 753 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 754 Wheelchair::pid_left(90);
jvfausto 19:71a6621ee5c3 755 Wheelchair::pid_forward(305);
jvfausto 21:3489cffad196 756 }
JesiMiranda 35:5a2fed4c2e9f 757
jvfausto 21:3489cffad196 758 void Wheelchair::desk_to_kitchen()
jvfausto 21:3489cffad196 759 {
jvfausto 19:71a6621ee5c3 760 Wheelchair::pid_right(180);
jvfausto 19:71a6621ee5c3 761 Wheelchair::pid_forward(3700);
jvfausto 21:3489cffad196 762 }