Revision 15:573dc6e9a1c6, committed 2019-06-28

Comitter:

t1jain

Date:

Fri Jun 28 17:27:30 2019 +0000

Parent:

14:240bcc258bfe

Commit message:

Cleaned up code

Changed in this revision

--- 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
     }
     
 }

--- a/wheelchaircontrol.lib	Thu Jun 27 22:55:56 2019 +0000
+++ b/wheelchaircontrol.lib	Fri Jun 28 17:27:30 2019 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/teams/Affordable-Smart-Wheelchair/code/wheelchaircontrol4/#052247c0f0e0
+https://os.mbed.com/teams/Affordable-Smart-Wheelchair/code/wheelchaircontrol4/#a6659c5a8109