Tanish Jain
Updated with emergency button and watchdog code
Dependencies: wheelchaircontrol4 Watchdog ros_lib_kinetic
Diff: main.cpp
- Revision:
- 15:573dc6e9a1c6
- Parent:
- 14:240bcc258bfe
--- a/main.cpp Thu Jun 27 22:55:56 2019 +0000
+++ b/main.cpp Fri Jun 28 17:27:30 2019 +0000
@@ -1,40 +1,36 @@
#include "mbed.h"
#include <ros.h>
-#include <nav_msgs/Odometry.h> // Contains both the twist and pose
+#include <nav_msgs/Odometry.h> // Contains both the twist and pose
#include "Watchdog.h"
#include "wheelchair.h"
#include "rtos.h"
-QEI wheel (D10, D9, NC, 1200); //Initializes right encoder
-DigitalIn pt3(D10, PullUp); //Pull up resistors to read analog signals into digital signals
+QEI wheel (D10, D9, NC, 1200); // Initializes right encoder
+DigitalIn pt3(D10, PullUp); // Pull up resistors to read analog signals into digital signals
DigitalIn pt4(D9, PullUp);
-double watchdogLimit = 0.1; // Set timeout limit for watchdog timer in seconds
+double watchdogLimit = 0.1; // Set timeout limit for watchdog timer in seconds
int buttonCheck = 0;
int iteration = 1;
-/*added*/
-//DigitalIn e_button(D4); //emergency button will start at HIGH
-
-QEI wheelS (D7, D8, NC, 1200); //Initializes Left encoder
-DigitalIn pt1(D7, PullUp); //Pull up resistors to read analog signals into digital signals
+QEI wheelS (D7, D8, NC, 1200); // Initializes Left encoder
+DigitalIn pt1(D7, PullUp); // Pull up resistors to read analog signals into digital signals
DigitalIn pt2(D8, PullUp);
int max_velocity;
-//Timer testAccT;
-AnalogIn x(A0); //Initializes analog axis for the joystick
+AnalogIn x(A0); // Initializes analog axis for the joystick
AnalogIn y(A1);
-DigitalOut up(D12); //Turn up speed mode for joystick
-DigitalOut down(D13); //Turn down speed mode for joystick
-DigitalOut on(D14); //Turn Wheelchair On
-DigitalOut off(D15); //Turn Wheelchair Off
-bool manual = false; //Turns chair joystic to automatic and viceverza
+DigitalOut up(D12); // Turn up speed mode for joystick
+DigitalOut down(D13); // Turn down speed mode for joystick
+DigitalOut on(D14); // Turn Wheelchair On
+DigitalOut off(D15); // Turn Wheelchair Off
+bool manual = false; // Turns chair joystic to automatic and viceverza
-Serial pc(USBTX, USBRX, 57600); //Serial Monitor
+Serial pc(USBTX, USBRX, 57600); // Serial Monitor
-VL53L1X sensor1(PD_13, PD_12, PA_15); //initializes ToF sensors
+VL53L1X sensor1(PD_13, PD_12, PA_15); // Initializes ToF sensors
VL53L1X sensor2(PD_13, PD_12, PC_7);
VL53L1X sensor3(PD_13, PD_12, PB_5);
VL53L1X sensor4(PD_13, PD_12, PE_11);
@@ -48,97 +44,88 @@
VL53L1X sensor12(PB_11, PB_10, D11);
VL53L1X* ToF[12] = {&sensor1, &sensor2, &sensor3, &sensor4, &sensor5, &sensor6,
-&sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12}; //puts ToF sensor pointers into an array
+&sensor7, &sensor8, &sensor9, &sensor10, &sensor11, &sensor12}; // Puts ToF sensor pointers into an array
VL53L1X** ToFT = ToF;
-Timer t; //Initialize time object t
-EventQueue queue; //Class to organize threads
+Timer t; // Initialize time object t
+EventQueue queue; // Class to organize threads
Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS, ToFT); //Initialize wheelchair object
-Thread compass; //Thread for compass
-Thread velocity; //Thread for velosity
-Thread assistSafe; //thread for safety stuff
-Thread emergencyButton; // Thread to check button state and reset device
+Thread compass; // Thread for compass
+Thread velocity; // Thread for velosity
+Thread assistSafe; // Thread for safety stuff
+Thread emergencyButton; // Thread to check button state and reset device
-int main(void)
-{
-/* nh.initNode();
- nh.advertise(chatter);
- nh.advertise(chatter2);
- nh.subscribe(sub);*/
- //testAccT.start();
+int main(void) {
+
pc.printf("Before starting\r\n");
- queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); //Sets up sampling frequency of the compass_thread
- queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); //Sets up sampling frequency of the velocity_thread
- queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::assistSafe_thread); //Sets up sampling frequency of the velosity_thread
+ queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread); // Sets up sampling frequency of the compass_thread
+ queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); // Sets up sampling frequency of the velocity_thread
+ queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::assistSafe_thread); // Sets up sampling frequency of the velosity_thread
queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::emergencyButton_thread); // Sets up sampling frequency of the emergencyButton_thread
//queue.call_every(200, rosCom_thread); //Sets up sampling frequency of the velosity_thread
t.reset();
- compass.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the compass thread
- velocity.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
- assistSafe.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
+ compass.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the compass thread
+ velocity.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the velosity thread
+ assistSafe.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the velosity thread
emergencyButton.start(callback(&queue, &EventQueue::dispatch_forever));
- //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); //Starts running the velosity thread
+ //ros_com.start(callback(&queue, &EventQueue::dispatch_forever)); // Starts running the velosity thread
pc.printf("After starting\r\n");
- //added
- // int emerg_button = e_button;
+ Watchdog dog; // Creates Watchdog object
+ dog.Configure(watchdogLimit); // Configures timeout for Watchdog
+ pc.printf("Code initiated\n");
- Watchdog dog; // Creates Watchdog object
- dog.Configure(watchdogLimit); // Configures timeout for Watchdog
- pc.printf("Code initiated\n");
-
-
int set = 0;
while(iteration++) {
t.start();
if( pc.readable()) {
set = 1;
- char c = pc.getc(); //Read the instruction sent
+ char c = pc.getc(); // Read the instruction sent
if( c == 'w') {
pc.printf("Moving forward\n");
- smart.forward(); //Move forward
+ smart.forward(); // Move forward
}
else if( c == 'a') {
pc.printf("Turning left\n");
- smart.left(); //Turn left
+ smart.left(); // Turn left
}
else if( c == 'd') {
pc.printf("Turning right\n");
- smart.right(); //Turn right
+ smart.right(); // Turn right
}
else if( c == 's') {
pc.printf("Moving back\n");
- smart.backward(); //Turn backwards
+ smart.backward(); // Turn backwards
}
else if( c == 't') {
smart.pid_twistA();
} else if(c == 'v'){
smart.showOdom();
- } else if(c == 'o') { //Turns on chair
+ } else if(c == 'o') { // Turns on chair
pc.printf("turning on\r\n");
on = 1;
wait(1);
on = 0;
- } else if(c == 'f') { //Turns off chair
+ } else if(c == 'f') { // Turns off chair
pc.printf("turning off\r\n");
off = 1;
wait(1);
off = 0;
- } else if(c == 'k'){ //Sends command to go to the kitchen
+ } else if(c == 'k'){ // Sends command to go to the kitchen
smart.pid_twistV();
- } else if( c == 'm' || manual) { //Turns wheelchair to joystick
+ } else if( c == 'm' || manual) { // Turns wheelchair to joystick
pc.printf("turning on joystick\r\n");
manual = true;
t.reset();
while(manual) {
- smart.move(x,y); //Reads from joystick and moves
+ smart.move(x,y); // Reads from joystick and moves
if( pc.readable()) {
char d = pc.getc();
- if( d == 'm') { //Turns wheelchair from joystick into auto
+ if( d == 'm') { // Turns wheelchair from joystick into auto
pc.printf("turning off joystick\r\n");
manual = false;
}
@@ -147,19 +134,18 @@
}
else {
pc.printf("none \r\n");
- smart.stop(); //If nothing else is happening stop the chair
+ smart.stop(); // If nothing else is happening stop the chair
}
}
else {
- smart.stop(); //If nothing else is happening stop the chair
+ smart.stop(); // If nothing else is happening stop the chair
}
- wait(process);
-
+ wait(process);
t.stop();
pc.printf("Time elapsed: %f seconds and iteration = %d\n", t.read(), iteration);
- dog.Service(); // Service the Watchdog so it does not cause a system reset - "Kicking"/"Feeding" the dog
+ dog.Service(); // Service the Watchdog so it does not cause a system reset - "Kicking"/"Feeding" the dog
}
}