File content as of revision 15:573dc6e9a1c6:

#include "mbed.h"
#include <ros.h>
#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
DigitalIn pt4(D9, PullUp);

double watchdogLimit = 0.1;             // Set timeout limit for watchdog timer in seconds
int buttonCheck = 0;
int iteration = 1;

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;

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

Serial pc(USBTX, USBRX, 57600);         // Serial Monitor

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);
VL53L1X sensor5(PD_13, PD_12, PF_14);
VL53L1X sensor6(PD_13, PD_12, PE_13);
VL53L1X sensor7(PD_13, PD_12, D6);
VL53L1X sensor8(PD_13, PD_12, PE_12);
VL53L1X sensor9(PD_13, PD_12, PE_10);
VL53L1X sensor10(PD_13, PD_12, PE_15);
VL53L1X sensor11(PD_13, PD_12, D6);
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
VL53L1X** ToFT = ToF;

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

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::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
    emergencyButton.start(callback(&queue, &EventQueue::dispatch_forever)); 
    
    //ros_com.start(callback(&queue, &EventQueue::dispatch_forever));       // Starts running the velosity thread
        pc.printf("After starting\r\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
            if( c == 'w') {
                pc.printf("Moving forward\n");
                smart.forward();                                            // Move forward
            }
            else if( c == 'a') {
                pc.printf("Turning left\n");               
                smart.left();                                               // Turn left   
            }
            else if( c == 'd') {
                pc.printf("Turning right\n");
                smart.right();                                              // Turn right
            }
            else if( c == 's') {
                pc.printf("Moving back\n");
                smart.backward();                                           // Turn backwards
            }
            
            else if( c == 't') {                                        
                smart.pid_twistA();
            } else if(c == 'v'){
                smart.showOdom();
            } 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
                pc.printf("turning off\r\n");
                off = 1;
                wait(1);
                off = 0;
            
            } else if(c == 'k'){                                            // Sends command to go to the kitchen
                smart.pid_twistV();
            } 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
                    if( pc.readable()) {
                        char d = pc.getc();
                        if( d == 'm') {                                     // Turns wheelchair from joystick into auto
                            pc.printf("turning off joystick\r\n");
                            manual = false;
                        }
                    }
                }   
            }
             else {
                    pc.printf("none \r\n");
                    smart.stop();                                           // If nothing else is happening stop the chair
            }
        }
        else {
            
            smart.stop();                                                   // If nothing else is happening stop the chair
        }

        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
    }
    
}