Tanish Jain / wheelchaircontrol

a

Dependencies:   QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic

Dependents:   wheelchairControlSumer19 Version1-0

wheelchair.cpp@30:c25b2556e84d, 2019-07-01 (annotated)

Committer:
t1jain
Date:
Mon Jul 01 21:38:57 2019 +0000
Revision:
30:c25b2556e84d
Parent:
27:da718b990837
Child:
31:06f2362caf12
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jvfausto 21:3489cffad196 1
ryanlin97 0:fc0c4a184482 2 #include "wheelchair.h"
t1jain 30:c25b2556e84d 3
jvfausto 21:3489cffad196 4 bool manual_drive = false; // Variable changes between joystick and auto drive
jvfausto 21:3489cffad196 5 double encoder_distance; // Keeps distanse due to original position
jvfausto 21:3489cffad196 6
jvfausto 21:3489cffad196 7 volatile double Setpoint, Output, Input, Input2; // Variables for PID
jvfausto 21:3489cffad196 8 volatile double pid_yaw, Distance, Setpoint2, Output2, encoder_distance2; // Variables for PID
jvfausto 21:3489cffad196 9 volatile double vIn, vOut, vDesired; // Variables for PID Velosity
jvfausto 21:3489cffad196 10 volatile double vInS, vOutS, vDesiredS; // Variables for PID Slave Wheel
jvfausto 21:3489cffad196 11 volatile double yIn, yOut, yDesired; // Variables for PID turn velosity
t1jain 30:c25b2556e84d 12 // int* ToFDataPointer1;
t1jain 30:c25b2556e84d 13 // int* ToFDataPointer2;
t1jain 30:c25b2556e84d 14
t1jain 30:c25b2556e84d 15 int ledgeArrayLF[100];
t1jain 30:c25b2556e84d 16 int ledgeArrayRF[100];
t1jain 30:c25b2556e84d 17 int* ToFDataPointer1 = ledgeArrayLF;
t1jain 30:c25b2556e84d 18 int* ToFDataPointer2 = ledgeArrayRF;
t1jain 30:c25b2556e84d 19 statistics LFTStats(ToFDataPointer1, 99, 1);
t1jain 30:c25b2556e84d 20 statistics RFTStats(ToFDataPointer1, 99, 1);
t1jain 30:c25b2556e84d 21 int k = 0;
ryanlin97 11:d14a1f7f1297 22
jvfausto 21:3489cffad196 23 double dist_old, curr_pos; // Variables for odometry position
t1jain 30:c25b2556e84d 24 double outlierToF[4];
jvfausto 19:71a6621ee5c3 25
jvfausto 21:3489cffad196 26
jvfausto 21:3489cffad196 27 PID myPID(&pid_yaw, &Output, &Setpoint, 5.5, .00, 0.0036, P_ON_E, DIRECT); // Angle PID object constructor
jvfausto 21:3489cffad196 28 PID myPIDDistance(&Input, &Output, &Setpoint, 5.5, .00, 0.002, P_ON_E, DIRECT); // Distance PID object constructor
jvfausto 21:3489cffad196 29 PID PIDVelosity(&vIn, &vOut, &vDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Velosity PID Constructor
jvfausto 21:3489cffad196 30 PID PIDSlaveV(&vInS, &vOutS, &vDesiredS, 5.5, .00, .002, P_ON_E, DIRECT); // Slave Velosity PID Constructor
jvfausto 21:3489cffad196 31 PID PIDAngularV(&yIn, &yOut, &yDesired, 5.5, .00, .002, P_ON_E, DIRECT); // Angular Velosity PID Constructor
jvfausto 21:3489cffad196 32
jvfausto 19:71a6621ee5c3 33
jvfausto 21:3489cffad196 34 /* Thread measures current angular position */
jvfausto 21:3489cffad196 35 void Wheelchair::compass_thread()
jvfausto 21:3489cffad196 36 {
ryanlin97 11:d14a1f7f1297 37 curr_yaw = imu->yaw();
jvfausto 21:3489cffad196 38 z_angular = curr_yaw;
jvfausto 21:3489cffad196 39 }
jvfausto 17:7f3b69300bb6 40
jvfausto 21:3489cffad196 41 /* Thread measures velocity of wheels and distance traveled */
jvfausto 21:3489cffad196 42 void Wheelchair::velocity_thread()
ryanlin97 1:c0beadca1617 43 {
jvfausto 21:3489cffad196 44 curr_vel = wheel->getVelocity();
jvfausto 21:3489cffad196 45 curr_velS = wheelS->getVelocity();
jvfausto 21:3489cffad196 46 curr_pos = wheel->getDistance(53.975);
ryanlin97 1:c0beadca1617 47 }
ryanlin97 6:0cd57bdd8fbc 48
t1jain 30:c25b2556e84d 49 void Wheelchair::ToFSafe_thread()
ryanlin97 1:c0beadca1617 50 {
jvfausto 21:3489cffad196 51 int ToFV[12];
jvfausto 26:662693bd7f31 52 for(int i = 0; i < 6; i++) // reads from the ToF Sensors
jvfausto 21:3489cffad196 53 {
jvfausto 21:3489cffad196 54 ToFV[i] = (*(ToF+i))->readFromOneSensor();
t1jain 30:c25b2556e84d 55 out->printf("%d ", ToFV[i]);
jvfausto 27:da718b990837 56 }
jvfausto 27:da718b990837 57
t1jain 30:c25b2556e84d 58 out->printf("\r\n");
t1jain 30:c25b2556e84d 59
t1jain 30:c25b2556e84d 60 k++;
t1jain 30:c25b2556e84d 61
t1jain 30:c25b2556e84d 62 if (k == 100) {
t1jain 30:c25b2556e84d 63 k = 1;
t1jain 30:c25b2556e84d 64 }
jvfausto 27:da718b990837 65
t1jain 30:c25b2556e84d 66 ledgeArrayLF[k] = (*(ToF+1))->readFromOneSensor();
t1jain 30:c25b2556e84d 67 ledgeArrayRF[k] = (*(ToF+4))->readFromOneSensor();
t1jain 30:c25b2556e84d 68 // statistics LFTStats(ToFDataPointer1, 99, 1);
t1jain 30:c25b2556e84d 69 // statistics RFTStats(ToFDataPointer1, 99, 1);
t1jain 30:c25b2556e84d 70 outlierToF[0] = LFTStats.mean() + 2*LFTStats.stdev();
t1jain 30:c25b2556e84d 71 outlierToF[1] = RFTStats.mean() + 2*RFTStats.stdev();
t1jain 30:c25b2556e84d 72 out->printf("New outliers: %f, %f\n", outlierToF[0], outlierToF[1]);
t1jain 30:c25b2556e84d 73
t1jain 30:c25b2556e84d 74
jvfausto 27:da718b990837 75
jvfausto 27:da718b990837 76 for(int i = 0; i < 4; i++) { // Reads from the ToF Sensors
jvfausto 27:da718b990837 77 runningAverage[i] = ((runningAverage[i]*(4) + ToFV[(i*3)+1]) / 5);
t1jain 30:c25b2556e84d 78 }
jvfausto 27:da718b990837 79
jvfausto 27:da718b990837 80 int sensor1 = ToFV[0];
jvfausto 27:da718b990837 81 int sensor4 = ToFV[3];
t1jain 30:c25b2556e84d 82 //out->printf("%d, %d\r\n", ToFV[1], runningAverage[0]);
jvfausto 27:da718b990837 83 if(curr_vel < 1 &&((2 * maxDecelerationSlow*sensor1 < curr_vel*curr_vel*1000*1000 ||
jvfausto 26:662693bd7f31 84 2 * maxDecelerationSlow*sensor4 < curr_vel*curr_vel*1000*1000) &&
jvfausto 26:662693bd7f31 85 (sensor1 < 1500 || sensor4 < 1500)) ||
jvfausto 26:662693bd7f31 86 550 > sensor1 || 550 > sensor4)
jvfausto 26:662693bd7f31 87 {
jvfausto 26:662693bd7f31 88 //out->printf("i am in danger\r\n");
jvfausto 26:662693bd7f31 89 if(x->read() > def)
jvfausto 26:662693bd7f31 90 {
jvfausto 26:662693bd7f31 91 x->write(def);
t1jain 30:c25b2556e84d 92 forwardSafety = 1; // You cannot move forward
jvfausto 26:662693bd7f31 93 }
jvfausto 26:662693bd7f31 94 }
jvfausto 26:662693bd7f31 95 else if(curr_vel > 1 &&((2 * maxDecelerationFast*sensor1 < curr_vel*curr_vel*1000*1000 ||
jvfausto 26:662693bd7f31 96 2 * maxDecelerationFast*sensor4 < curr_vel*curr_vel*1000*1000) &&
jvfausto 21:3489cffad196 97 (sensor1 < 1500 || sensor4 < 1500)) ||
jvfausto 21:3489cffad196 98 550 > sensor1 || 550 > sensor4)
jvfausto 21:3489cffad196 99 {
jvfausto 21:3489cffad196 100 //out->printf("i am in danger\r\n");
jvfausto 21:3489cffad196 101 if(x->read() > def)
jvfausto 21:3489cffad196 102 {
jvfausto 21:3489cffad196 103 x->write(def);
jvfausto 21:3489cffad196 104 forwardSafety = 1;
jvfausto 21:3489cffad196 105 }
jvfausto 21:3489cffad196 106 }
t1jain 30:c25b2556e84d 107
t1jain 30:c25b2556e84d 108 else if ((runningAverage[0] > outlierToF[0]) || (runningAverage[1] > outlierToF[1])) {
t1jain 30:c25b2556e84d 109 forwardSafety = 1;
t1jain 30:c25b2556e84d 110 out->printf("I'm stopping because of a ledge\r\n");
t1jain 30:c25b2556e84d 111 }
t1jain 30:c25b2556e84d 112
jvfausto 21:3489cffad196 113 else
jvfausto 21:3489cffad196 114 forwardSafety = 0;
jvfausto 27:da718b990837 115
jvfausto 21:3489cffad196 116 }
ryanlin97 6:0cd57bdd8fbc 117
jvfausto 21:3489cffad196 118 /* Constructor for Wheelchair class */
jvfausto 21:3489cffad196 119 Wheelchair::Wheelchair(PinName xPin, PinName yPin, Serial* pc, Timer* time, QEI* qei, QEI* qeiS,
jvfausto 21:3489cffad196 120 VL53L1X** ToFT)
jvfausto 21:3489cffad196 121 {
jvfausto 21:3489cffad196 122 x_position = 0;
jvfausto 21:3489cffad196 123 y_position = 0;
jvfausto 21:3489cffad196 124 forwardSafety = 0;
jvfausto 21:3489cffad196 125 /* Initializes X and Y variables to Pins */
jvfausto 21:3489cffad196 126 x = new PwmOut(xPin);
jvfausto 21:3489cffad196 127 y = new PwmOut(yPin);
jvfausto 21:3489cffad196 128 /* Initializes IMU Library */
jvfausto 26:662693bd7f31 129 out = pc; // "out" is called for serial monitor
jvfausto 26:662693bd7f31 130 out->printf("on\r\n");
jvfausto 21:3489cffad196 131 imu = new chair_BNO055(pc, time);
jvfausto 21:3489cffad196 132 Wheelchair::stop(); // Wheelchair is initially stationary
jvfausto 21:3489cffad196 133 imu->setup(); // turns on the IMU
jvfausto 21:3489cffad196 134 wheelS = qeiS; // "wheel" is called for encoder
jvfausto 21:3489cffad196 135 wheel = qei;
jvfausto 21:3489cffad196 136 ToF = ToFT; // passes pointer with addresses of ToF sensors
jvfausto 21:3489cffad196 137
jvfausto 21:3489cffad196 138 for(int i = 0; i < 12; i++) // initializes the ToF Sensors
jvfausto 21:3489cffad196 139 {
jvfausto 21:3489cffad196 140 (*(ToF+i))->initReading(0x31+((0x02)*i), 50000);
jvfausto 21:3489cffad196 141 }
jvfausto 21:3489cffad196 142
jvfausto 21:3489cffad196 143 out->printf("wheelchair setup done \r\n"); // Make sure it initialized; prints in serial monitor
jvfausto 21:3489cffad196 144 ti = time;
t1jain 30:c25b2556e84d 145 //(*(ToF+1))->readFromOneSensor();
t1jain 30:c25b2556e84d 146 // (*(ToF+1))->readFromOneSensor();
jvfausto 27:da718b990837 147 for(int i = 0; i < 100; i++)
jvfausto 27:da718b990837 148 {
jvfausto 27:da718b990837 149 ledgeArrayLF[i] = (*(ToF+1))->readFromOneSensor();
t1jain 30:c25b2556e84d 150 ledgeArrayRF[i] = (*(ToF+4))->readFromOneSensor();
jvfausto 27:da718b990837 151 }
t1jain 30:c25b2556e84d 152
t1jain 30:c25b2556e84d 153
t1jain 30:c25b2556e84d 154 statistics LFTStats(ToFDataPointer1, 99, 1);
t1jain 30:c25b2556e84d 155 // //ToFDataPointer = ledgeArrayRF;
t1jain 30:c25b2556e84d 156 statistics RFTStats(ToFDataPointer2, 99, 1);
t1jain 30:c25b2556e84d 157
t1jain 30:c25b2556e84d 158 outlierToF[0] = LFTStats.mean() + 2*LFTStats.stdev();
t1jain 30:c25b2556e84d 159 outlierToF[1] = RFTStats.mean() + 2*RFTStats.stdev();
t1jain 30:c25b2556e84d 160
t1jain 30:c25b2556e84d 161 out->printf("Left outlier = %f\n", outlierToF[0]);
t1jain 30:c25b2556e84d 162 out->printf("Right outlier = %f\n", outlierToF[1]);
t1jain 30:c25b2556e84d 163
t1jain 30:c25b2556e84d 164 out->printf("Left statistics = %f, %f\n", LFTStats.mean(), LFTStats.stdev());
t1jain 30:c25b2556e84d 165 out->printf("Right statistics = %f, %f\n", RFTStats.mean(), RFTStats.stdev());
jvfausto 21:3489cffad196 166 myPID.SetMode(AUTOMATIC); // PID mode: Automatic
jvfausto 21:3489cffad196 167 }
jvfausto 21:3489cffad196 168
jvfausto 21:3489cffad196 169 /* Move wheelchair with joystick on manual mode */
jvfausto 21:3489cffad196 170 void Wheelchair::move(float x_coor, float y_coor)
jvfausto 21:3489cffad196 171 {
jvfausto 21:3489cffad196 172 /* Scales one joystick measurement to the chair's joystick measurement */
ryanlin97 4:29a27953fe70 173 float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
ryanlin97 4:29a27953fe70 174 float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
jvfausto 21:3489cffad196 175
jvfausto 21:3489cffad196 176 /* Sends the scaled joystic values to the chair */
jvfausto 21:3489cffad196 177 x->write(scaled_x);
ryanlin97 4:29a27953fe70 178 y->write(scaled_y);
ryanlin97 5:e0ccaab3959a 179 }
jvfausto 21:3489cffad196 180
jvfausto 21:3489cffad196 181 /* Automatic mode: move forward and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 182 void Wheelchair::forward()
ryanlin97 1:c0beadca1617 183 {
jvfausto 26:662693bd7f31 184 //printf("current velosity; %f, curr vel S %f\r\n", curr_vel, curr_velS);
jvfausto 21:3489cffad196 185 if(forwardSafety == 0)
jvfausto 21:3489cffad196 186 {
ryanlin97 0:fc0c4a184482 187 x->write(high);
ryanlin97 3:a5e71bfdb492 188 y->write(def+offset);
jvfausto 21:3489cffad196 189 }
jvfausto 26:662693bd7f31 190 out->printf("%f, %f\r\n", curr_pos, wheelS->getDistance(53.975));
ryanlin97 0:fc0c4a184482 191 }
jvfausto 21:3489cffad196 192
jvfausto 21:3489cffad196 193 /* Automatic mode: move in reverse and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 194 void Wheelchair::backward()
ryanlin97 1:c0beadca1617 195 {
ryanlin97 0:fc0c4a184482 196 x->write(low);
ryanlin97 0:fc0c4a184482 197 y->write(def);
ryanlin97 0:fc0c4a184482 198 }
jvfausto 21:3489cffad196 199
jvfausto 21:3489cffad196 200 /* Automatic mode: move right and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 201 void Wheelchair::right()
ryanlin97 1:c0beadca1617 202 {
ryanlin97 0:fc0c4a184482 203 x->write(def);
ryanlin97 11:d14a1f7f1297 204 y->write(low);
ryanlin97 0:fc0c4a184482 205 }
ryanlin97 0:fc0c4a184482 206
jvfausto 21:3489cffad196 207 /* Automatic mode: move left and update x,y coordinate sent to chair */
jvfausto 21:3489cffad196 208 void Wheelchair::left()
ryanlin97 1:c0beadca1617 209 {
ryanlin97 0:fc0c4a184482 210 x->write(def);
ryanlin97 11:d14a1f7f1297 211 y->write(high);
ryanlin97 0:fc0c4a184482 212 }
jvfausto 21:3489cffad196 213
jvfausto 21:3489cffad196 214 /* Stop the wheelchair */
jvfausto 21:3489cffad196 215 void Wheelchair::stop()
ryanlin97 1:c0beadca1617 216 {
ryanlin97 0:fc0c4a184482 217 x->write(def);
ryanlin97 0:fc0c4a184482 218 y->write(def);
ryanlin97 6:0cd57bdd8fbc 219 }
jvfausto 21:3489cffad196 220
jvfausto 21:3489cffad196 221 /* Counter-clockwise is -
jvfausto 21:3489cffad196 222 * Clockwise is +
jvfausto 21:3489cffad196 223 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 224 * This constructor takes in an angle from user and adjusts for turning right
jvfausto 21:3489cffad196 225 */
jvfausto 21:3489cffad196 226 void Wheelchair::pid_right(int deg)
ryanlin97 12:921488918749 227 {
jvfausto 21:3489cffad196 228 bool overturn = false; //Boolean if angle over 360˚
ryanlin97 12:921488918749 229
jvfausto 21:3489cffad196 230 out->printf("pid right\r\r\n");
jvfausto 21:3489cffad196 231 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 232 Setpoint = curr_yaw + deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 233 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 234
jvfausto 21:3489cffad196 235 /* Turns on overturn boolean if setpoint over 360˚ */
jvfausto 21:3489cffad196 236 if(Setpoint > 360)
jvfausto 21:3489cffad196 237 {
ryanlin97 12:921488918749 238 overturn = true;
ryanlin97 12:921488918749 239 }
jvfausto 21:3489cffad196 240
jvfausto 21:3489cffad196 241 myPID.SetTunings(5.5,0, 0.0035); // Sets the constants for P and D
jvfausto 21:3489cffad196 242 myPID.SetOutputLimits(0, def-low-.15); // Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 243 myPID.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 244
jvfausto 21:3489cffad196 245 /* PID stops when approaching a litte less than desired angle */
jvfausto 21:3489cffad196 246 while(pid_yaw < Setpoint - 3)
jvfausto 21:3489cffad196 247 {
jvfausto 21:3489cffad196 248 /* PID is set to correct angle range if angle greater than 360˚*/
jvfausto 17:7f3b69300bb6 249 if(overturn && curr_yaw < Setpoint-deg-1)
jvfausto 17:7f3b69300bb6 250 {
jvfausto 21:3489cffad196 251 pid_yaw = curr_yaw + 360;
jvfausto 21:3489cffad196 252 }
jvfausto 21:3489cffad196 253 else
jvfausto 21:3489cffad196 254 {
jvfausto 17:7f3b69300bb6 255 pid_yaw = curr_yaw;
ryanlin97 12:921488918749 256 }
jvfausto 21:3489cffad196 257
jvfausto 21:3489cffad196 258 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 259 double tempor = -Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 260 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 261
jvfausto 21:3489cffad196 262 /* Prints to serial monitor the current angle and setpoint */
jvfausto 21:3489cffad196 263 out->printf("curr_yaw %f\r\r\n", curr_yaw);
jvfausto 21:3489cffad196 264 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 265
jvfausto 21:3489cffad196 266 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 267 }
jvfausto 21:3489cffad196 268
jvfausto 21:3489cffad196 269 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 270 Wheelchair::stop();
jvfausto 21:3489cffad196 271 out->printf("done \r\n");
jvfausto 21:3489cffad196 272 }
jvfausto 21:3489cffad196 273
jvfausto 21:3489cffad196 274 /* Counter-clockwise is -
jvfausto 21:3489cffad196 275 * Clockwise is +
jvfausto 21:3489cffad196 276 * Range of deg: 0 to 360
jvfausto 21:3489cffad196 277 * This constructor takes in an angle from user and adjusts for turning left
jvfausto 21:3489cffad196 278 */
jvfausto 21:3489cffad196 279 void Wheelchair::pid_left(int deg)
ryanlin97 12:921488918749 280 {
jvfausto 21:3489cffad196 281 bool overturn = false; //Boolean if angle under 0˚
ryanlin97 12:921488918749 282
jvfausto 21:3489cffad196 283 out->printf("pid Left\r\r\n");
jvfausto 21:3489cffad196 284 x->write(def); // Update x sent to chair to be stationary
jvfausto 21:3489cffad196 285 Setpoint = curr_yaw - deg; // Relative angle we want to turn
jvfausto 21:3489cffad196 286 pid_yaw = curr_yaw; // Sets pid_yaw to angle input from user
jvfausto 21:3489cffad196 287
jvfausto 21:3489cffad196 288 /* Turns on overturn boolean if setpoint less than 0˚ */
jvfausto 21:3489cffad196 289 if(Setpoint < 0)
jvfausto 21:3489cffad196 290 {
ryanlin97 12:921488918749 291 overturn = true;
ryanlin97 12:921488918749 292 }
jvfausto 21:3489cffad196 293
jvfausto 21:3489cffad196 294 myPID.SetTunings(5,0, 0.004); // Sets the constants for P and D
jvfausto 21:3489cffad196 295 myPID.SetOutputLimits(0,high-def-.12); //Limit is set to the differnce between def and low
jvfausto 21:3489cffad196 296 myPID.SetControllerDirection(REVERSE); // PID mode: Reverse
jvfausto 21:3489cffad196 297
jvfausto 21:3489cffad196 298 /* PID stops when approaching a litte more than desired angle */
jvfausto 21:3489cffad196 299 while(pid_yaw > Setpoint+3)
jvfausto 21:3489cffad196 300 {
jvfausto 21:3489cffad196 301 /* PID is set to correct angle range if angle less than 0˚ */
jvfausto 21:3489cffad196 302 if(overturn && curr_yaw > Setpoint+deg+1)
jvfausto 17:7f3b69300bb6 303 {
jvfausto 17:7f3b69300bb6 304 pid_yaw = curr_yaw - 360;
jvfausto 21:3489cffad196 305 }
jvfausto 21:3489cffad196 306 else
jvfausto 21:3489cffad196 307 {
jvfausto 21:3489cffad196 308 pid_yaw = curr_yaw;
jvfausto 21:3489cffad196 309 }
jvfausto 21:3489cffad196 310
jvfausto 21:3489cffad196 311 myPID.Compute(); // Does PID calculations
jvfausto 21:3489cffad196 312 double tempor = Output+def; // Temporary value with the voltage output
jvfausto 21:3489cffad196 313 y->write(tempor); // Update y sent to chair
jvfausto 21:3489cffad196 314
jvfausto 21:3489cffad196 315 /* Prints to serial monitor the current angle and setpoint */
jvfausto 17:7f3b69300bb6 316 out->printf("curr_yaw %f\r\n", curr_yaw);
jvfausto 21:3489cffad196 317 out->printf("Setpoint = %f \r\n", Setpoint);
jvfausto 21:3489cffad196 318
jvfausto 21:3489cffad196 319 wait(.05); // Small delay (milliseconds)
ryanlin97 12:921488918749 320 }
jvfausto 21:3489cffad196 321
jvfausto 21:3489cffad196 322 /* Saftey stop for wheelchair */
jvfausto 21:3489cffad196 323 Wheelchair::stop();
jvfausto 21:3489cffad196 324 out->printf("done \r\n");
ryanlin97 12:921488918749 325
jvfausto 21:3489cffad196 326 }
jvfausto 21:3489cffad196 327
jvfausto 21:3489cffad196 328 /* This constructor determines whether to turn left or right */
jvfausto 21:3489cffad196 329 void Wheelchair::pid_turn(int deg)
jvfausto 21:3489cffad196 330 {
jvfausto 21:3489cffad196 331
jvfausto 21:3489cffad196 332 /* Sets angle to coterminal angle for left turn if deg > 180
jvfausto 21:3489cffad196 333 * Sets angle to coterminal angle for right turn if deg < -180
jvfausto 21:3489cffad196 334 */
jvfausto 21:3489cffad196 335 if(deg > 180)
jvfausto 21:3489cffad196 336 {
ryanlin97 12:921488918749 337 deg -= 360;
ryanlin97 12:921488918749 338 }
jvfausto 21:3489cffad196 339 else if(deg < -180)
jvfausto 21:3489cffad196 340 {
jvfausto 21:3489cffad196 341 deg +=360;
ryanlin97 12:921488918749 342 }
ryanlin97 12:921488918749 343
jvfausto 21:3489cffad196 344 /* Makes sure angle inputted to function is positive */
ryanlin97 12:921488918749 345 int turnAmt = abs(deg);
jvfausto 21:3489cffad196 346
jvfausto 21:3489cffad196 347 /* Calls PID_right if deg > 0, else calls PID_left if deg < 0 */
jvfausto 21:3489cffad196 348 if(deg >= 0)
jvfausto 21:3489cffad196 349 {
jvfausto 21:3489cffad196 350 Wheelchair::pid_right(turnAmt);
jvfausto 21:3489cffad196 351 }
jvfausto 21:3489cffad196 352 else
jvfausto 21:3489cffad196 353 {
jvfausto 21:3489cffad196 354 Wheelchair::pid_left(turnAmt);
jvfausto 21:3489cffad196 355 }
ryanlin97 12:921488918749 356
jvfausto 21:3489cffad196 357 }
jvfausto 21:3489cffad196 358
jvfausto 21:3489cffad196 359 /* This constructor takes in distance to travel and adjust to move forward */
jvfausto 19:71a6621ee5c3 360 void Wheelchair::pid_forward(double mm)
jvfausto 17:7f3b69300bb6 361 {
jvfausto 21:3489cffad196 362 mm -= 20; // Makes sure distance does not overshoot
jvfausto 21:3489cffad196 363 Input = 0; // Initializes input to zero: Test latter w/o
jvfausto 21:3489cffad196 364 wheel->reset(); // Resets encoders so that they start at 0
jvfausto 21:3489cffad196 365
jvfausto 17:7f3b69300bb6 366 out->printf("pid foward\r\n");
jvfausto 21:3489cffad196 367
jvfausto 21:3489cffad196 368 double tempor; // Initializes Temporary variable for x input
jvfausto 21:3489cffad196 369 Setpoint = mm; // Initializes the setpoint to desired value
jvfausto 21:3489cffad196 370
jvfausto 21:3489cffad196 371 myPIDDistance.SetTunings(5.5,0, 0.0015); // Sets constants for P and D
jvfausto 21:3489cffad196 372 myPIDDistance.SetOutputLimits(0,high-def-.15); // Limit set to difference between high and def
jvfausto 21:3489cffad196 373 myPIDDistance.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 374
jvfausto 21:3489cffad196 375 y->write(def+offset); // Update y to make chair stationary
jvfausto 21:3489cffad196 376
jvfausto 21:3489cffad196 377 /* Chair stops moving when Setpoint is reached */
jvfausto 21:3489cffad196 378 while(Input < Setpoint){
jvfausto 21:3489cffad196 379
jvfausto 21:3489cffad196 380 if(out->readable()) // Emergency Break
jvfausto 21:3489cffad196 381 {
jvfausto 21:3489cffad196 382 break;
jvfausto 21:3489cffad196 383 }
jvfausto 17:7f3b69300bb6 384
jvfausto 21:3489cffad196 385 Input = wheel->getDistance(53.975); // Gets distance from Encoder into PID
jvfausto 21:3489cffad196 386 wait(.05); // Slight Delay: *****Test without
jvfausto 21:3489cffad196 387 myPIDDistance.Compute(); // Compute distance traveled by chair
jvfausto 21:3489cffad196 388
jvfausto 21:3489cffad196 389 tempor = Output + def; // Temporary output variable
jvfausto 21:3489cffad196 390 x->write(tempor); // Update x sent to chair
jvfausto 17:7f3b69300bb6 391
jvfausto 21:3489cffad196 392 /* Prints to serial monitor the distance traveled by chair */
jvfausto 19:71a6621ee5c3 393 out->printf("distance %f\r\n", Input);
jvfausto 17:7f3b69300bb6 394 }
ryanlin97 12:921488918749 395
jvfausto 17:7f3b69300bb6 396 }
jvfausto 21:3489cffad196 397
jvfausto 21:3489cffad196 398 /* This constructor returns the relative angular position of chair */
jvfausto 21:3489cffad196 399 double Wheelchair::getTwistZ()
jvfausto 17:7f3b69300bb6 400 {
jvfausto 21:3489cffad196 401 return imu->gyro_z();
jvfausto 21:3489cffad196 402 }
jvfausto 18:663b6d693252 403
jvfausto 21:3489cffad196 404 /* This constructor computes the relative angle for Twist message in ROS */
jvfausto 21:3489cffad196 405 void Wheelchair::pid_twistA()
jvfausto 21:3489cffad196 406 {
jvfausto 21:3489cffad196 407 /* Initialize variables for angle and update x,y sent to chair */
jvfausto 21:3489cffad196 408 char c;
jvfausto 21:3489cffad196 409 double temporA = def;
jvfausto 21:3489cffad196 410 y->write(def);
jvfausto 21:3489cffad196 411 x->write(def);
jvfausto 21:3489cffad196 412
jvfausto 21:3489cffad196 413 PIDAngularV.SetTunings(.00015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 414 PIDAngularV.SetOutputLimits(-.1, .1); // Limit set to be in range specified
jvfausto 21:3489cffad196 415 PIDAngularV.SetControllerDirection(DIRECT); // PID mode: Direct
jvfausto 21:3489cffad196 416
jvfausto 21:3489cffad196 417 /* Computes angular position of wheelchair while turning */
jvfausto 21:3489cffad196 418 while(1)
jvfausto 21:3489cffad196 419 {
jvfausto 21:3489cffad196 420 yDesired = angularV;
jvfausto 21:3489cffad196 421
jvfausto 21:3489cffad196 422 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 423 * if the desired angle is zero
jvfausto 21:3489cffad196 424 */
jvfausto 21:3489cffad196 425 if(yDesired == 0)
jvfausto 18:663b6d693252 426 {
jvfausto 21:3489cffad196 427 x->write(def);
jvfausto 21:3489cffad196 428 y->write(def);
jvfausto 21:3489cffad196 429 yDesired = 0;
ryanlin97 8:381a4ec3fef8 430 return;
ryanlin97 7:5e38d43fbce3 431 }
jvfausto 21:3489cffad196 432
jvfausto 21:3489cffad196 433 /* Continuously updates with current angle measured by IMU */
jvfausto 21:3489cffad196 434 yIn = imu->gyro_z();
jvfausto 21:3489cffad196 435 PIDAngularV.Compute();
jvfausto 21:3489cffad196 436 temporA += yOut; // Temporary value with the voltage output
jvfausto 21:3489cffad196 437 y->write(temporA); // Update y sent to chair
jvfausto 21:3489cffad196 438
jvfausto 21:3489cffad196 439 //out->printf("temporA: %f, yDesired %f, angle: %f\r\n", temporA, yDesired, imu->gyro_z());
jvfausto 21:3489cffad196 440 wait(.05); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 441 }
jvfausto 21:3489cffad196 442
jvfausto 21:3489cffad196 443 }
ryanlin97 6:0cd57bdd8fbc 444
jvfausto 21:3489cffad196 445 /* This constructor computes the relative velocity for Twist message in ROS */
jvfausto 21:3489cffad196 446 void Wheelchair::pid_twistV()
ryanlin97 6:0cd57bdd8fbc 447 {
jvfausto 21:3489cffad196 448 /* Initializes variables as default */
jvfausto 21:3489cffad196 449 double temporV = def;
jvfausto 26:662693bd7f31 450 double temporS = def+offset;
jvfausto 21:3489cffad196 451 vDesiredS = 0;
jvfausto 21:3489cffad196 452 x->write(def);
jvfausto 21:3489cffad196 453 y->write(def);
jvfausto 21:3489cffad196 454 wheel->reset(); // Resets the encoders
jvfausto 21:3489cffad196 455 /* Sets the constants for P and D */
jvfausto 21:3489cffad196 456 PIDVelosity.SetTunings(.0005,0, 0.00);
jvfausto 26:662693bd7f31 457 PIDSlaveV.SetTunings(.005,0.000001, 0.000001);
jvfausto 21:3489cffad196 458
jvfausto 21:3489cffad196 459 /* Limits to the range specified */
jvfausto 21:3489cffad196 460 PIDVelosity.SetOutputLimits(-.005, .005);
jvfausto 21:3489cffad196 461 PIDSlaveV.SetOutputLimits(-.002, .002);
jvfausto 21:3489cffad196 462
jvfausto 21:3489cffad196 463 /* PID mode: Direct */
jvfausto 21:3489cffad196 464 PIDVelosity.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 465 PIDSlaveV.SetControllerDirection(DIRECT);
jvfausto 21:3489cffad196 466
jvfausto 21:3489cffad196 467 while(1)
jvfausto 21:3489cffad196 468 {
jvfausto 21:3489cffad196 469 linearV = .7;
jvfausto 21:3489cffad196 470 test1 = linearV*100;
jvfausto 21:3489cffad196 471 vel = curr_vel;
jvfausto 21:3489cffad196 472 vDesired = linearV*100;
jvfausto 21:3489cffad196 473 if(out->readable())
jvfausto 21:3489cffad196 474 return;
jvfausto 21:3489cffad196 475 /* Update and set all variable so that the chair is stationary
jvfausto 21:3489cffad196 476 * if the velocity is zero
jvfausto 21:3489cffad196 477 */
jvfausto 21:3489cffad196 478 if(linearV == 0)
jvfausto 21:3489cffad196 479 {
jvfausto 21:3489cffad196 480 x->write(def);
jvfausto 21:3489cffad196 481 y->write(def);
ryanlin97 8:381a4ec3fef8 482
jvfausto 21:3489cffad196 483 vel = 0;
jvfausto 21:3489cffad196 484 vDesired = 0;
jvfausto 21:3489cffad196 485 dist_old = 0;
ryanlin97 8:381a4ec3fef8 486 return;
ryanlin97 8:381a4ec3fef8 487 }
jvfausto 21:3489cffad196 488
jvfausto 21:3489cffad196 489 if(vDesired >= 0)
jvfausto 21:3489cffad196 490 {
jvfausto 21:3489cffad196 491 PIDVelosity.SetTunings(.000004,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 492 PIDVelosity.SetOutputLimits(-.002, .002); // Limits to the range specified
jvfausto 21:3489cffad196 493 }
jvfausto 21:3489cffad196 494 else
jvfausto 21:3489cffad196 495 {
jvfausto 21:3489cffad196 496 PIDVelosity.SetTunings(.000015,0, 0.00); // Sets the constants for P and D
jvfausto 21:3489cffad196 497 PIDVelosity.SetOutputLimits(-.0005, .0005); // Limits to range specified
jvfausto 21:3489cffad196 498 }
jvfausto 21:3489cffad196 499
jvfausto 21:3489cffad196 500 /* Sets maximum value of variable to 1 */
jvfausto 21:3489cffad196 501 if(temporV >= 1.5)
jvfausto 21:3489cffad196 502 {
jvfausto 21:3489cffad196 503 temporV = 1.5;
ryanlin97 8:381a4ec3fef8 504 }
jvfausto 21:3489cffad196 505 /* Scales and makes some adjustments to velocity */
jvfausto 21:3489cffad196 506 vIn = curr_vel*100;
jvfausto 21:3489cffad196 507 vInS = curr_vel-curr_velS;
jvfausto 21:3489cffad196 508 PIDVelosity.Compute();
jvfausto 21:3489cffad196 509 PIDSlaveV.Compute();
jvfausto 21:3489cffad196 510 if(forwardSafety == 0)
jvfausto 21:3489cffad196 511 {
jvfausto 21:3489cffad196 512 temporV += vOut;
jvfausto 21:3489cffad196 513 temporS += vOutS;
jvfausto 21:3489cffad196 514
jvfausto 21:3489cffad196 515 /* Updates x,y sent to Wheelchair and for Odometry message in ROS */
jvfausto 21:3489cffad196 516 x->write(temporV);
jvfausto 21:3489cffad196 517 test2 = temporV;
jvfausto 21:3489cffad196 518 y->write(temporS);
jvfausto 21:3489cffad196 519 }
jvfausto 21:3489cffad196 520 else
jvfausto 21:3489cffad196 521 {
jvfausto 21:3489cffad196 522 x->write(def);
jvfausto 21:3489cffad196 523 y->write(def);
jvfausto 21:3489cffad196 524 }
jvfausto 21:3489cffad196 525 //out->printf("Velosity: %f, Velosity2: %f, temporV %f, temporS %f\r\n", curr_vel, curr_velS, temporV, temporS);
jvfausto 21:3489cffad196 526 Wheelchair::odomMsg();
jvfausto 21:3489cffad196 527 wait(.01); // Small delay (milliseconds)
ryanlin97 6:0cd57bdd8fbc 528 }
ryanlin97 11:d14a1f7f1297 529 }
ryanlin97 11:d14a1f7f1297 530
jvfausto 21:3489cffad196 531 /* This constructor calculates the relative position of the chair everytime the encoders reset
jvfausto 21:3489cffad196 532 * by setting its old position as the origin to calculate the new position
jvfausto 21:3489cffad196 533 */
jvfausto 21:3489cffad196 534 void Wheelchair::odomMsg()
ryanlin97 11:d14a1f7f1297 535 {
jvfausto 21:3489cffad196 536 double dist_new = curr_pos;
jvfausto 21:3489cffad196 537 double dist = dist_new-dist_old;
jvfausto 21:3489cffad196 538 double temp_x = dist*sin(z_angular*3.14159/180);
jvfausto 21:3489cffad196 539 double temp_y = dist*cos(z_angular*3.14159/180);
jvfausto 21:3489cffad196 540
jvfausto 21:3489cffad196 541 x_position += temp_x;
jvfausto 21:3489cffad196 542 y_position += temp_y;
ryanlin97 11:d14a1f7f1297 543
jvfausto 21:3489cffad196 544 dist_old = dist_new;
jvfausto 21:3489cffad196 545 }
jvfausto 21:3489cffad196 546
jvfausto 21:3489cffad196 547 /* This constructor prints the Odometry message to the serial monitor */
jvfausto 21:3489cffad196 548 void Wheelchair::showOdom()
jvfausto 21:3489cffad196 549 {
jvfausto 21:3489cffad196 550 out->printf("x %f, y %f, angle %f", x_position, y_position, z_angular);
jvfausto 21:3489cffad196 551 }
jvfausto 21:3489cffad196 552
jvfausto 21:3489cffad196 553 /* This constructor returns the approximate distance based on the wheel diameter */
jvfausto 21:3489cffad196 554 float Wheelchair::getDistance()
jvfausto 21:3489cffad196 555 {
jvfausto 21:3489cffad196 556 return wheel->getDistance(Diameter);
ryanlin97 6:0cd57bdd8fbc 557 }
ryanlin97 8:381a4ec3fef8 558
jvfausto 21:3489cffad196 559 /* This constructor resets the wheel encoder's */
jvfausto 21:3489cffad196 560 void Wheelchair::resetDistance()
jvfausto 21:3489cffad196 561 {
ryanlin97 12:921488918749 562 wheel->reset();
jvfausto 21:3489cffad196 563 }
jvfausto 21:3489cffad196 564
jvfausto 21:3489cffad196 565
jvfausto 21:3489cffad196 566 /*Predetermined paths For Demmo*/
jvfausto 21:3489cffad196 567 void Wheelchair::desk()
jvfausto 21:3489cffad196 568 {
jvfausto 19:71a6621ee5c3 569 Wheelchair::pid_forward(5461);
jvfausto 19:71a6621ee5c3 570 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 571 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 572 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 573 Wheelchair::pid_forward(3658);
jvfausto 21:3489cffad196 574 }
jvfausto 21:3489cffad196 575
jvfausto 21:3489cffad196 576 void Wheelchair::kitchen()
jvfausto 21:3489cffad196 577 {
jvfausto 19:71a6621ee5c3 578 Wheelchair::pid_forward(5461);
jvfausto 20:f42db4ae16f0 579 Wheelchair::pid_right(87);
jvfausto 19:71a6621ee5c3 580 Wheelchair::pid_forward(3658);
jvfausto 19:71a6621ee5c3 581 Wheelchair::pid_left(90);
jvfausto 19:71a6621ee5c3 582 Wheelchair::pid_forward(305);
jvfausto 21:3489cffad196 583 }
jvfausto 21:3489cffad196 584
jvfausto 21:3489cffad196 585 void Wheelchair::desk_to_kitchen()
jvfausto 21:3489cffad196 586 {
jvfausto 19:71a6621ee5c3 587 Wheelchair::pid_right(180);
jvfausto 19:71a6621ee5c3 588 Wheelchair::pid_forward(3700);
jvfausto 21:3489cffad196 589 }