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finalcodewithapp.ino
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finalcodewithapp.ino
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#include <AutonomousWheelchair.h>
#include <WheelchairLib.h>
Wheelchair Chair;
char CurrentLocation='n';
byte card1[4] = {55, 11, 27, 43};
byte card2[4] = {55 ,37, 224, 43};
byte card3[4] = {174, 188, 59, 67};
byte card4[4] = {158, 255, 57, 67};
//0.6 per title
#define atodtime 18000//18000 //31 tiles
#define ctodtime 21000 //37 tiles
#define btodtime 18000 //31 tiles
Reader reader;
float orientation=0;
char Destination = 'n';
Point A(card1,card1,'A');//A for Door
Point B(card2,card2,'B');//B for Door
Point C(card3,card3,'C');//C for Door
Point D(card4,card4,'D');//D for Door
SoftTimer Auto, Autocorrect, sensortime;
///////////////////////////////////////////////////////////////////////////////////////
void Read_Destination(){
if (Serialinput == 'a' && Destination != 'a'&&previousSerialinput!='a'){
Destination = 'a';
}
else if (Serialinput == 'b'&& Destination != 'b'&&previousSerialinput!='b'){
Destination = 'b';
}
else if (Serialinput == 'c' && Destination !='c'&&previousSerialinput!='c'){
Destination = 'c';
}
else if (Serialinput == 'd' && Destination != 'd'&&previousSerialinput!='d'){
Destination = 'd';
}
else{
Destination = 'n';
}
}
///////////////////////////////////////////////////////////////////
void Sense(){
if(sensortime.getElapsedTime()>1500){
sensortime.reset();
}
}
///////////////////////////////////////////////////////////////////
void correction(){
if(sensortime.getElapsedTime()>150){
headingDegrees = Serialinput;
if(headingDegrees=='i'){
// Chair.SetState('f','s');
correctLow.reset();
correctHigh.reset();
Autocorrect.reset();
while(Autocorrect.getElapsedTime()<400) {
digitalWrite(Right,LOW);
digitalWrite(Left,HIGH);
}
digitalWrite(Right,HIGH);
}
else if(headingDegrees =='w'){
// Chair.SetState('f','s');
correctLow.reset();
correctHigh.reset();
Autocorrect.reset();
while(Autocorrect.getElapsedTime()<400) {
digitalWrite(Left,LOW);
digitalWrite(Right,HIGH);
}
digitalWrite(Left,HIGH);
}
sensortime.reset();
}
}
///////////////////////////////////////////////////////////////////
void correctionsensor(){
// Sense();
if((cmfr<300&&cmfr>0)||(cmr<80&&cmr>0)){
//cmfr=300;cmfl=300;cml=300;cmr=300;
if(cmfr<cmfl||cmr<cml){
Chair.SetState('f','s');
//////////////////////////////////
correctLow.reset();
correctHigh.reset();
Autocorrect.reset();
while(Autocorrect.getElapsedTime()<320) {
digitalWrite(Left,LOW);
}
digitalWrite(Left,HIGH);
}
}
else if((cmfl<300&&cmfl>0)||(cml<80&&cml>0)){
// cmfr=300;cmfl=300;cml=300;cmr=300;
if(cmfl<cmfr||cml<cmr){
Chair.SetState('f','s');
/////////////////////////////////
correctLow.reset();
correctHigh.reset();
Autocorrect.reset();
while(Autocorrect.getElapsedTime()<350){
digitalWrite(Right,LOW);
}
digitalWrite(Right,HIGH);
}
}
}
////////////////////////////////////////////////////////////////////////////
void setup() {
Chair.Init();
reader.Init();
Serial.setTimeout(7);
Auto.reset();
sensortime.reset();
Chair.SetState('s','s');
}
void UpdateAll(){
reader.Update();
Chair.Update();
//if(orientation)
//correction();
if(Chair.movingState=='f')
correctionsensor();
Read_Destination();
D.Update();
C.Update();
B.Update();
A.Update();
UpdateLocation();
}
void loop() {
UpdateAll();
States();//whenever auto
}
/////////////////////////////////////////////////////////////////////////////////////////
void UpdateLocation(){
if(A.Detected){
A.Detected=false;
A.ClearCard();
CurrentLocation='a';
Serial.write(A.Location);
}
if(B.Detected){
B.Detected=false;
B.ClearCard();
CurrentLocation='b';
Serial.write(B.Location);
}
if(C.Detected){
C.Detected=false;
C.ClearCard();
CurrentLocation='c';
Serial.write(C.Location);
}
if(D.Detected){
D.Detected=false;
D.ClearCard();
CurrentLocation='d';
Serial.write(D.Location);
}
}
////////////////////////////////////////////////////////////////////////////////////
void a2d(){
Auto.reset();
Chair.SetState('f','s');
while(Auto.getElapsedTime()<atodtime){
UpdateAll();
//correction();
}
Auto.reset();
}
void c2d(){
Auto.reset();
Chair.SetState('f','s');
while(Auto.getElapsedTime()<ctodtime){
UpdateAll();
// correction();
}
Auto.reset();
}
void b2d(){
Auto.reset();
Chair.SetState('f','s');
while(Auto.getElapsedTime()<btodtime){
UpdateAll();
}
Auto.reset();
}
////////////////////////////////////////////////////////////////////////////
void States(){
switch(Destination){
////////////////////////////////////////////////////
case 'c':
if(CurrentLocation=='a'){//starting a going to c
orientation=230;
Serial.write('0');//for 230 isra
a2d();
CurrentLocation='d';
}
////
if(CurrentLocation=='b'){
orientation=133;
Serial.write('1');//for 133 isra
b2d();
c2d();
CurrentLocation='c';
}
////
if(CurrentLocation=='d'){
orientation=133;
Serial.write('1');//for 133 isra
Chair.SetState('l','s');
while(Chair.movingState=='l')
Chair.Update();
Chair.Stop();
c2d();
CurrentLocation='c';
}
////
if(CurrentLocation=='c'){
orientation=0;
Serial.write('Z');
Destination = 'n';
Chair.SetState('s','s');
Auto.reset();
}
break;
////////////////////////////////////////////////////
case 'b':
if(CurrentLocation=='a'){//starting a going to c
orientation=230;
Serial.write('0');//for 230 isra
a2d();
CurrentLocation='d';
}
////
if(CurrentLocation=='d'){
orientation=313;
Serial.write('2');//for 313 isra
Chair.SetState('r','s');
while(Chair.movingState=='r')
Chair.Update();
Chair.Stop();
b2d();
CurrentLocation='b';
}
////
if(CurrentLocation=='c'){
orientation=313;
Serial.write('2');//for 313 isra
c2d();
b2d();
CurrentLocation='b';
}
////
if(CurrentLocation=='b'){
orientation=0;
Serial.write('Z');
Destination = 'n';
Chair.SetState('s','s');
Auto.reset();
}
////
break;
////////////////////////////////////////////////////
case 'a':
if(CurrentLocation=='b'){//starting a going to c
orientation=133;
Serial.write('1');//for 133 isra
b2d();
Chair.SetState('l','s');
while(Chair.movingState=='l')
Chair.Update();
Chair.Stop();
CurrentLocation='d';
}
////
if(CurrentLocation=='c'){
orientation=313;
Serial.write('2');//for 313 isra
c2d();
Chair.SetState('r','s');
while(Chair.movingState=='r')
Chair.Update();
Chair.Stop();
CurrentLocation='d';
}
////
if(CurrentLocation=='d'){
orientation=50;
Serial.write('3');//for 50 isra
a2d();
CurrentLocation='a';
}
////
if(CurrentLocation=='a'){
orientation=0;
Serial.write('Z');
Destination = 'n';
Chair.SetState('s','s');
Auto.reset();
}
////
break;
////////////////////////////////////////////////////
}
}