Denver
/
denver_train_proj
Denver trai project
main.cpp@68:9859a3ff9298, 2018-06-26 (annotated)
- Committer:
- carlosperales95
- Date:
- Tue Jun 26 14:22:47 2018 +0000
- Revision:
- 68:9859a3ff9298
- Parent:
- 67:7ff2425141ce
- Child:
- 69:609c69e91b4e
AFC&ALC Working
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mglmx | 0:4d06a6a8e785 | 1 | #include "mbed.h" |
mglmx | 3:fe7010b693a0 | 2 | #include "TextLCD.h" |
mglmx | 18:aa43bb62e60f | 3 | #include "MCP23017.h" |
mglmx | 22:e4153ca757dd | 4 | #include <string> |
mglmx | 22:e4153ca757dd | 5 | #include <iostream> |
mglmx | 35:cfcfeccb959e | 6 | #include <vector> |
mglmx | 62:6fc0c683cb02 | 7 | #include <fstream> |
mglmx | 62:6fc0c683cb02 | 8 | #include <sstream> |
mglmx | 35:cfcfeccb959e | 9 | |
mglmx | 35:cfcfeccb959e | 10 | using namespace std; |
mglmx | 18:aa43bb62e60f | 11 | |
carlosperales95 | 65:8fd4046c6540 | 12 | //FileSystem for log creation |
mglmx | 62:6fc0c683cb02 | 13 | LocalFileSystem local("local"); |
mglmx | 1:0ab26889af9b | 14 | |
carlosperales95 | 65:8fd4046c6540 | 15 | |
carlosperales95 | 7:e2b8461d4f05 | 16 | /******PINS AND DECLARATIONS*******/ |
carlosperales95 | 7:e2b8461d4f05 | 17 | |
carlosperales95 | 25:a42a1ed4d8e9 | 18 | //------PINS |
mglmx | 21:e6f1649add39 | 19 | |
mglmx | 21:e6f1649add39 | 20 | //SWITCHES p5 - p8 |
mglmx | 21:e6f1649add39 | 21 | DigitalIn switch1(p5); |
mglmx | 21:e6f1649add39 | 22 | DigitalIn switch2(p6); |
mglmx | 21:e6f1649add39 | 23 | DigitalIn switch3(p7); |
mglmx | 21:e6f1649add39 | 24 | DigitalIn switch4(p8); |
carlosperales95 | 7:e2b8461d4f05 | 25 | |
carlosperales95 | 10:2088b1935a93 | 26 | //RAIL SENSORS - INT0,INT1 |
carlosperales95 | 7:e2b8461d4f05 | 27 | //INT0 - p9 |
mglmx | 18:aa43bb62e60f | 28 | InterruptIn int0(p9); |
carlosperales95 | 7:e2b8461d4f05 | 29 | //INT1 - p10 |
mglmx | 18:aa43bb62e60f | 30 | InterruptIn int1(p10); |
carlosperales95 | 7:e2b8461d4f05 | 31 | |
carlosperales95 | 7:e2b8461d4f05 | 32 | ///p11 |
carlosperales95 | 7:e2b8461d4f05 | 33 | ///p12 |
carlosperales95 | 12:e914ca5cd44b | 34 | |
carlosperales95 | 7:e2b8461d4f05 | 35 | //M0 - p13 |
mglmx | 35:cfcfeccb959e | 36 | DigitalIn d21stat(p13); //Sensor right of the station |
carlosperales95 | 7:e2b8461d4f05 | 37 | //M1 - p14 |
mglmx | 35:cfcfeccb959e | 38 | DigitalIn d22stat(p14); //Sensor left of the station |
carlosperales95 | 7:e2b8461d4f05 | 39 | //M2 - p15 |
carlosperales95 | 29:559eb2164488 | 40 | DigitalIn station(p15); //Sensor in the middle of the station |
carlosperales95 | 12:e914ca5cd44b | 41 | |
carlosperales95 | 7:e2b8461d4f05 | 42 | //p16 |
carlosperales95 | 50:ee4398ee44be | 43 | //ENABLE - p17 |
carlosperales95 | 50:ee4398ee44be | 44 | DigitalOut enable(p17); |
carlosperales95 | 12:e914ca5cd44b | 45 | |
carlosperales95 | 11:021210c59a95 | 46 | //BUZZER - p18 |
carlosperales95 | 11:021210c59a95 | 47 | DigitalOut buzz(p18); // buzz=0 doesn't beep, buzz=1 beeps |
carlosperales95 | 7:e2b8461d4f05 | 48 | |
carlosperales95 | 7:e2b8461d4f05 | 49 | //POTENTIOMETER - p19 |
carlosperales95 | 13:dbf1ead12cee | 50 | AnalogIn pot(p19); //Gives float value pot.read(). Convert analog input to V with f*3.3 |
carlosperales95 | 7:e2b8461d4f05 | 51 | |
carlosperales95 | 7:e2b8461d4f05 | 52 | //DAT - p20 |
mglmx | 3:fe7010b693a0 | 53 | DigitalOut Track(p20); //Digital output bit used to drive track power via H-bridge |
carlosperales95 | 7:e2b8461d4f05 | 54 | |
carlosperales95 | 7:e2b8461d4f05 | 55 | //LCD SCREEN - p21, p22, p23, p24, p25, p26 |
carlosperales95 | 11:021210c59a95 | 56 | TextLCD lcd(p22,p21,p23,p24,p25,p26); // RS, E, A4, A5, A6, A7 // ldc.cls() to clear and printf(String up to 16char) |
carlosperales95 | 7:e2b8461d4f05 | 57 | |
carlosperales95 | 7:e2b8461d4f05 | 58 | ///p27 |
mglmx | 62:6fc0c683cb02 | 59 | ///p28 |
mglmx | 33:24ce12dec157 | 60 | I2C i2c(p28,p27); |
carlosperales95 | 7:e2b8461d4f05 | 61 | |
carlosperales95 | 7:e2b8461d4f05 | 62 | //LED1 - p29 |
mglmx | 3:fe7010b693a0 | 63 | DigitalOut redled(p29); |
carlosperales95 | 7:e2b8461d4f05 | 64 | //LED2 - p30 |
mglmx | 3:fe7010b693a0 | 65 | DigitalOut greenled(p30); |
carlosperales95 | 7:e2b8461d4f05 | 66 | |
carlosperales95 | 24:1d71dd8778c4 | 67 | //MBED LEDS |
mglmx | 18:aa43bb62e60f | 68 | DigitalOut led1(LED1); |
mglmx | 18:aa43bb62e60f | 69 | DigitalOut led2(LED2); |
mglmx | 18:aa43bb62e60f | 70 | DigitalOut led3(LED3); |
mglmx | 16:2a2da0e67793 | 71 | |
mglmx | 16:2a2da0e67793 | 72 | //MCP |
mglmx | 16:2a2da0e67793 | 73 | MCP23017 *mcp; |
carlosperales95 | 12:e914ca5cd44b | 74 | |
carlosperales95 | 65:8fd4046c6540 | 75 | //------ |
carlosperales95 | 65:8fd4046c6540 | 76 | |
carlosperales95 | 24:1d71dd8778c4 | 77 | |
carlosperales95 | 25:a42a1ed4d8e9 | 78 | //------GLOBAL VARS |
carlosperales95 | 25:a42a1ed4d8e9 | 79 | |
carlosperales95 | 38:b9aba3715682 | 80 | //......SENSOR POSITION VARS |
carlosperales95 | 38:b9aba3715682 | 81 | |
carlosperales95 | 45:d589318238bf | 82 | //Definition of D sensors, will be interpreted as ints for the program's logic |
mglmx | 34:c9ab2a987734 | 83 | #define D0 0 |
mglmx | 34:c9ab2a987734 | 84 | #define D1 1 |
mglmx | 34:c9ab2a987734 | 85 | #define D2 2 |
mglmx | 34:c9ab2a987734 | 86 | #define D3 3 |
mglmx | 34:c9ab2a987734 | 87 | #define D4 4 |
mglmx | 34:c9ab2a987734 | 88 | #define D5 5 |
mglmx | 34:c9ab2a987734 | 89 | #define D6 6 |
mglmx | 34:c9ab2a987734 | 90 | #define D7 7 |
mglmx | 34:c9ab2a987734 | 91 | #define D8 8 |
mglmx | 34:c9ab2a987734 | 92 | #define D9 9 |
mglmx | 34:c9ab2a987734 | 93 | #define D10 10 |
mglmx | 34:c9ab2a987734 | 94 | #define D11 11 |
mglmx | 34:c9ab2a987734 | 95 | #define D12 12 |
mglmx | 34:c9ab2a987734 | 96 | #define D13 13 |
mglmx | 34:c9ab2a987734 | 97 | #define D21 14 |
mglmx | 34:c9ab2a987734 | 98 | #define D22 15 |
mglmx | 34:c9ab2a987734 | 99 | |
carlosperales95 | 65:8fd4046c6540 | 100 | //Definition of the different train speeds, will be interpreted as ints for the program's logic |
mglmx | 57:ee5da8a011e0 | 101 | #define STOP 0 |
mglmx | 57:ee5da8a011e0 | 102 | #define SLOW 1 |
mglmx | 57:ee5da8a011e0 | 103 | #define MEDIUM 2 |
mglmx | 57:ee5da8a011e0 | 104 | #define FAST 3 |
mglmx | 57:ee5da8a011e0 | 105 | #define FULL 4 |
mglmx | 57:ee5da8a011e0 | 106 | #define R_MEDIUM 5 |
mglmx | 55:aa3baa01f43d | 107 | |
mglmx | 55:aa3baa01f43d | 108 | |
mglmx | 62:6fc0c683cb02 | 109 | |
carlosperales95 | 38:b9aba3715682 | 110 | /** |
carlosperales95 | 38:b9aba3715682 | 111 | * |
carlosperales95 | 38:b9aba3715682 | 112 | *Position class. |
carlosperales95 | 38:b9aba3715682 | 113 | * |
carlosperales95 | 38:b9aba3715682 | 114 | *@position - |
carlosperales95 | 38:b9aba3715682 | 115 | *@previous_cw - |
carlosperales95 | 38:b9aba3715682 | 116 | *@previous_ccw - |
carlosperales95 | 38:b9aba3715682 | 117 | * |
carlosperales95 | 38:b9aba3715682 | 118 | *Position(int) - |
carlosperales95 | 38:b9aba3715682 | 119 | * |
carlosperales95 | 38:b9aba3715682 | 120 | *get_pos() - |
carlosperales95 | 38:b9aba3715682 | 121 | *get_prev_cw() - |
mglmx | 62:6fc0c683cb02 | 122 | *get_ccw() - |
carlosperales95 | 38:b9aba3715682 | 123 | *add_prev_cw() - |
mglmx | 62:6fc0c683cb02 | 124 | *add_ccw() - |
carlosperales95 | 38:b9aba3715682 | 125 | * |
carlosperales95 | 38:b9aba3715682 | 126 | **/ |
mglmx | 35:cfcfeccb959e | 127 | class Position{ |
mglmx | 35:cfcfeccb959e | 128 | private: |
mglmx | 35:cfcfeccb959e | 129 | int position; |
mglmx | 35:cfcfeccb959e | 130 | vector <int> previous_cw; |
mglmx | 35:cfcfeccb959e | 131 | vector <int> previous_ccw; |
mglmx | 35:cfcfeccb959e | 132 | public: |
mglmx | 35:cfcfeccb959e | 133 | Position(int p){ |
mglmx | 35:cfcfeccb959e | 134 | position = p; |
mglmx | 35:cfcfeccb959e | 135 | } |
mglmx | 36:9428c72bdd58 | 136 | |
mglmx | 36:9428c72bdd58 | 137 | int get_pos(){ |
mglmx | 36:9428c72bdd58 | 138 | return position; |
mglmx | 36:9428c72bdd58 | 139 | } |
mglmx | 41:4fa6aa29d1ed | 140 | |
mglmx | 41:4fa6aa29d1ed | 141 | vector<int> get_next_cw(){ |
mglmx | 41:4fa6aa29d1ed | 142 | return previous_ccw; |
mglmx | 41:4fa6aa29d1ed | 143 | } |
mglmx | 41:4fa6aa29d1ed | 144 | |
mglmx | 41:4fa6aa29d1ed | 145 | vector<int> get_next_ccw(){ |
mglmx | 41:4fa6aa29d1ed | 146 | return previous_cw; |
mglmx | 41:4fa6aa29d1ed | 147 | } |
carlosperales95 | 25:a42a1ed4d8e9 | 148 | |
mglmx | 35:cfcfeccb959e | 149 | vector <int> get_prev_cw(){ |
mglmx | 35:cfcfeccb959e | 150 | return previous_cw; |
mglmx | 35:cfcfeccb959e | 151 | } |
mglmx | 35:cfcfeccb959e | 152 | |
mglmx | 35:cfcfeccb959e | 153 | vector <int> get_prev_ccw(){ |
mglmx | 35:cfcfeccb959e | 154 | return previous_ccw; |
mglmx | 35:cfcfeccb959e | 155 | } |
mglmx | 35:cfcfeccb959e | 156 | |
mglmx | 35:cfcfeccb959e | 157 | void add_prev_cw(int pos){ |
mglmx | 35:cfcfeccb959e | 158 | previous_cw.push_back(pos); |
mglmx | 35:cfcfeccb959e | 159 | }; |
mglmx | 35:cfcfeccb959e | 160 | |
mglmx | 35:cfcfeccb959e | 161 | void add_prev_ccw(int pos){ |
mglmx | 35:cfcfeccb959e | 162 | previous_ccw.push_back(pos); |
mglmx | 35:cfcfeccb959e | 163 | }; |
mglmx | 35:cfcfeccb959e | 164 | }; |
mglmx | 35:cfcfeccb959e | 165 | |
carlosperales95 | 45:d589318238bf | 166 | |
mglmx | 41:4fa6aa29d1ed | 167 | //Creating a vector with all the positions. |
mglmx | 41:4fa6aa29d1ed | 168 | vector<Position> positions; |
mglmx | 41:4fa6aa29d1ed | 169 | |
carlosperales95 | 45:d589318238bf | 170 | |
carlosperales95 | 45:d589318238bf | 171 | /** |
carlosperales95 | 45:d589318238bf | 172 | * |
mglmx | 57:ee5da8a011e0 | 173 | *Method to send DCC commands to train and switches. |
mglmx | 57:ee5da8a011e0 | 174 | * |
mglmx | 57:ee5da8a011e0 | 175 | *@address - (HEX)Address where the commands will be sent |
mglmx | 57:ee5da8a011e0 | 176 | *@inst - (HEX)Number of instruction that will be commanded |
mglmx | 57:ee5da8a011e0 | 177 | *@repeat_count - Number of times the command will be sent |
mglmx | 57:ee5da8a011e0 | 178 | * |
mglmx | 57:ee5da8a011e0 | 179 | **/ |
mglmx | 57:ee5da8a011e0 | 180 | void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count){ |
mglmx | 57:ee5da8a011e0 | 181 | |
mglmx | 57:ee5da8a011e0 | 182 | unsigned __int64 command = 0x0000000000000000; // __int64 is the 64-bit integer type |
mglmx | 57:ee5da8a011e0 | 183 | unsigned __int64 temp_command = 0x0000000000000000; |
mglmx | 57:ee5da8a011e0 | 184 | unsigned __int64 prefix = 0x3FFF; // 14 "1" bits needed at start |
mglmx | 57:ee5da8a011e0 | 185 | unsigned int error = 0x00; //error byte |
mglmx | 57:ee5da8a011e0 | 186 | |
mglmx | 57:ee5da8a011e0 | 187 | //calculate error detection byte with xor |
mglmx | 57:ee5da8a011e0 | 188 | error = address ^ inst; |
mglmx | 57:ee5da8a011e0 | 189 | |
mglmx | 57:ee5da8a011e0 | 190 | //combine packet bits in basic DCC format |
mglmx | 57:ee5da8a011e0 | 191 | command = (prefix<<28)|(address<<19)|(inst<<10)|((error)<<1)|0x01; |
mglmx | 57:ee5da8a011e0 | 192 | //printf("\n\r %llx \n\r",command); |
mglmx | 57:ee5da8a011e0 | 193 | |
mglmx | 57:ee5da8a011e0 | 194 | int i=0; |
mglmx | 57:ee5da8a011e0 | 195 | //repeat DCC command lots of times |
mglmx | 57:ee5da8a011e0 | 196 | while(i < repeat_count) { |
mglmx | 57:ee5da8a011e0 | 197 | |
mglmx | 57:ee5da8a011e0 | 198 | temp_command = command; |
mglmx | 57:ee5da8a011e0 | 199 | //loops through packet bits encoding and sending out digital pulses for a DCC command |
mglmx | 57:ee5da8a011e0 | 200 | for (int j=0; j<64; j++) { |
mglmx | 57:ee5da8a011e0 | 201 | |
mglmx | 57:ee5da8a011e0 | 202 | if((temp_command&0x8000000000000000)==0) { |
mglmx | 57:ee5da8a011e0 | 203 | //test packet bit |
mglmx | 57:ee5da8a011e0 | 204 | //send data for a "0" bit |
mglmx | 57:ee5da8a011e0 | 205 | Track=0; |
mglmx | 57:ee5da8a011e0 | 206 | wait_us(100); |
mglmx | 57:ee5da8a011e0 | 207 | Track=1; |
mglmx | 57:ee5da8a011e0 | 208 | wait_us(100); |
mglmx | 57:ee5da8a011e0 | 209 | //printf("0011"); |
mglmx | 57:ee5da8a011e0 | 210 | }else{ |
mglmx | 57:ee5da8a011e0 | 211 | |
mglmx | 57:ee5da8a011e0 | 212 | //send data for a "1"bit |
mglmx | 57:ee5da8a011e0 | 213 | Track=0; |
mglmx | 57:ee5da8a011e0 | 214 | wait_us(58); |
mglmx | 57:ee5da8a011e0 | 215 | Track=1; |
mglmx | 57:ee5da8a011e0 | 216 | wait_us(58); |
mglmx | 57:ee5da8a011e0 | 217 | //printf("01"); |
mglmx | 57:ee5da8a011e0 | 218 | } |
mglmx | 57:ee5da8a011e0 | 219 | // next bit in packet |
mglmx | 57:ee5da8a011e0 | 220 | temp_command = temp_command<<1; |
mglmx | 57:ee5da8a011e0 | 221 | } |
mglmx | 57:ee5da8a011e0 | 222 | i++; |
mglmx | 57:ee5da8a011e0 | 223 | } |
mglmx | 57:ee5da8a011e0 | 224 | } |
mglmx | 57:ee5da8a011e0 | 225 | |
mglmx | 57:ee5da8a011e0 | 226 | /** |
mglmx | 57:ee5da8a011e0 | 227 | *Defining areas for train detection and collision logic. |
mglmx | 57:ee5da8a011e0 | 228 | *area_A_arr/area_B_arr - Arrays that hold the Dsensors for each area, used to initialize the vectors. |
mglmx | 57:ee5da8a011e0 | 229 | *area_A/area_B - Vectors that hold the different sensors of the corresponding areas of the track. |
mglmx | 57:ee5da8a011e0 | 230 | **/ |
mglmx | 57:ee5da8a011e0 | 231 | int area_A_arr[] = {D21,D2,D22,D1,D0,D13,D12}; |
mglmx | 57:ee5da8a011e0 | 232 | int area_B_arr[] = {D6,D7,D8}; |
mglmx | 57:ee5da8a011e0 | 233 | |
mglmx | 57:ee5da8a011e0 | 234 | const vector<int> area_A(area_A_arr,area_A_arr + sizeof(area_A_arr) / sizeof(int)); |
mglmx | 57:ee5da8a011e0 | 235 | const vector<int> area_B(area_B_arr,area_B_arr + sizeof(area_B_arr) / sizeof(int)); |
mglmx | 57:ee5da8a011e0 | 236 | |
mglmx | 57:ee5da8a011e0 | 237 | |
mglmx | 62:6fc0c683cb02 | 238 | |
mglmx | 57:ee5da8a011e0 | 239 | /** |
mglmx | 57:ee5da8a011e0 | 240 | * |
carlosperales95 | 45:d589318238bf | 241 | *Train class. |
carlosperales95 | 45:d589318238bf | 242 | * |
carlosperales95 | 45:d589318238bf | 243 | *@position - |
carlosperales95 | 45:d589318238bf | 244 | *@going_cw - |
carlosperales95 | 45:d589318238bf | 245 | * |
carlosperales95 | 45:d589318238bf | 246 | *Train(int, bool) - |
mglmx | 62:6fc0c683cb02 | 247 | *Train(bool) - |
carlosperales95 | 58:b60db1092088 | 248 | * |
mglmx | 62:6fc0c683cb02 | 249 | *Vector get_next_sensors() - |
carlosperales95 | 58:b60db1092088 | 250 | *set_position(int) - |
carlosperales95 | 58:b60db1092088 | 251 | *set_goes_cw(bool) - |
carlosperales95 | 45:d589318238bf | 252 | *Position get_position() - |
carlosperales95 | 45:d589318238bf | 253 | *Int get_position_number() - |
carlosperales95 | 45:d589318238bf | 254 | *Bool goes_cw() - |
carlosperales95 | 45:d589318238bf | 255 | * |
carlosperales95 | 45:d589318238bf | 256 | **/ |
mglmx | 41:4fa6aa29d1ed | 257 | class Train{ |
carlosperales95 | 45:d589318238bf | 258 | |
mglmx | 62:6fc0c683cb02 | 259 | private: |
mglmx | 62:6fc0c683cb02 | 260 | |
mglmx | 57:ee5da8a011e0 | 261 | unsigned int train_address; //stop the train |
mglmx | 41:4fa6aa29d1ed | 262 | Position *position; |
mglmx | 41:4fa6aa29d1ed | 263 | bool going_cw; |
mglmx | 57:ee5da8a011e0 | 264 | int speed; |
carlosperales95 | 45:d589318238bf | 265 | |
mglmx | 41:4fa6aa29d1ed | 266 | public: |
mglmx | 41:4fa6aa29d1ed | 267 | Train(int pos, bool cw){ |
carlosperales95 | 45:d589318238bf | 268 | |
mglmx | 41:4fa6aa29d1ed | 269 | position = &positions[pos]; |
mglmx | 41:4fa6aa29d1ed | 270 | going_cw = cw; |
mglmx | 41:4fa6aa29d1ed | 271 | } |
carlosperales95 | 45:d589318238bf | 272 | |
mglmx | 57:ee5da8a011e0 | 273 | /** |
mglmx | 62:6fc0c683cb02 | 274 | * Contructor that takes the address of the train and the speed with default value MEDIUM. |
mglmx | 62:6fc0c683cb02 | 275 | */ |
mglmx | 62:6fc0c683cb02 | 276 | Train(unsigned int address, int s=MEDIUM){ |
mglmx | 57:ee5da8a011e0 | 277 | train_address = address; |
mglmx | 57:ee5da8a011e0 | 278 | speed = s; |
mglmx | 57:ee5da8a011e0 | 279 | } |
mglmx | 62:6fc0c683cb02 | 280 | |
mglmx | 62:6fc0c683cb02 | 281 | Train(bool cw){ going_cw = cw; } |
mglmx | 62:6fc0c683cb02 | 282 | |
mglmx | 41:4fa6aa29d1ed | 283 | vector<int> get_next_sensors(){ |
mglmx | 41:4fa6aa29d1ed | 284 | |
mglmx | 41:4fa6aa29d1ed | 285 | //Checking direction |
mglmx | 62:6fc0c683cb02 | 286 | if(going_cw){ |
mglmx | 62:6fc0c683cb02 | 287 | |
mglmx | 62:6fc0c683cb02 | 288 | return position->get_next_cw(); |
mglmx | 62:6fc0c683cb02 | 289 | }else{ |
mglmx | 62:6fc0c683cb02 | 290 | |
mglmx | 62:6fc0c683cb02 | 291 | return position->get_next_ccw(); |
mglmx | 62:6fc0c683cb02 | 292 | } |
mglmx | 41:4fa6aa29d1ed | 293 | } |
mglmx | 41:4fa6aa29d1ed | 294 | |
mglmx | 57:ee5da8a011e0 | 295 | void set_speed(int s){ |
mglmx | 57:ee5da8a011e0 | 296 | speed = s; |
mglmx | 57:ee5da8a011e0 | 297 | } |
mglmx | 57:ee5da8a011e0 | 298 | |
mglmx | 57:ee5da8a011e0 | 299 | /** |
mglmx | 57:ee5da8a011e0 | 300 | * Sends a DCC command to the train with the speed indicaed by the attribute speed |
mglmx | 57:ee5da8a011e0 | 301 | * The number of times the command is sent can be indicated as an optional parameter. Default value is 1. |
mglmx | 57:ee5da8a011e0 | 302 | */ |
mglmx | 62:6fc0c683cb02 | 303 | void run(int times=1){ |
mglmx | 57:ee5da8a011e0 | 304 | |
mglmx | 57:ee5da8a011e0 | 305 | const unsigned int DCCinst_forward_slow = 0x66; //forward slow speed (step 9) |
mglmx | 57:ee5da8a011e0 | 306 | const unsigned int DCCinst_forward_medium = 0x68; //forward half speed |
mglmx | 57:ee5da8a011e0 | 307 | const unsigned int DCCinst_forward_fast = 0x6C; //Forward fast speed (step 22) |
mglmx | 57:ee5da8a011e0 | 308 | const unsigned int DCCinst_forward_full = 0x6F; //Forward full speed |
mglmx | 57:ee5da8a011e0 | 309 | const unsigned int DCCinst_reverse_medium = 0x48; //reverse half speed |
mglmx | 57:ee5da8a011e0 | 310 | const unsigned int DCCinst_stop = 0x50; //stop the train |
mglmx | 57:ee5da8a011e0 | 311 | |
mglmx | 57:ee5da8a011e0 | 312 | switch(speed){ |
mglmx | 62:6fc0c683cb02 | 313 | case STOP: |
mglmx | 57:ee5da8a011e0 | 314 | DCC_send_command(train_address, DCCinst_stop,times); |
mglmx | 57:ee5da8a011e0 | 315 | break; |
mglmx | 57:ee5da8a011e0 | 316 | case SLOW: |
mglmx | 57:ee5da8a011e0 | 317 | DCC_send_command(train_address, DCCinst_forward_slow,times); |
mglmx | 57:ee5da8a011e0 | 318 | break; |
mglmx | 57:ee5da8a011e0 | 319 | case MEDIUM: |
mglmx | 57:ee5da8a011e0 | 320 | DCC_send_command(train_address, DCCinst_forward_medium,times); |
mglmx | 57:ee5da8a011e0 | 321 | break; |
mglmx | 57:ee5da8a011e0 | 322 | case FAST: |
mglmx | 57:ee5da8a011e0 | 323 | DCC_send_command(train_address, DCCinst_forward_fast,times); |
mglmx | 57:ee5da8a011e0 | 324 | break; |
mglmx | 57:ee5da8a011e0 | 325 | case FULL: |
mglmx | 57:ee5da8a011e0 | 326 | DCC_send_command(train_address, DCCinst_forward_full,times); |
mglmx | 57:ee5da8a011e0 | 327 | break; |
mglmx | 57:ee5da8a011e0 | 328 | case R_MEDIUM: |
mglmx | 57:ee5da8a011e0 | 329 | DCC_send_command(train_address, DCCinst_reverse_medium,times); |
mglmx | 57:ee5da8a011e0 | 330 | break; |
mglmx | 57:ee5da8a011e0 | 331 | } |
mglmx | 57:ee5da8a011e0 | 332 | } |
mglmx | 57:ee5da8a011e0 | 333 | |
mglmx | 41:4fa6aa29d1ed | 334 | void set_position(int pos){ |
carlosperales95 | 45:d589318238bf | 335 | |
mglmx | 41:4fa6aa29d1ed | 336 | position = &positions[pos]; //Taking the new position from the positions vector |
mglmx | 41:4fa6aa29d1ed | 337 | } |
mglmx | 41:4fa6aa29d1ed | 338 | |
mglmx | 41:4fa6aa29d1ed | 339 | void set_goes_cw(bool cw){ |
carlosperales95 | 45:d589318238bf | 340 | |
mglmx | 41:4fa6aa29d1ed | 341 | going_cw = cw; |
mglmx | 41:4fa6aa29d1ed | 342 | } |
mglmx | 41:4fa6aa29d1ed | 343 | |
mglmx | 41:4fa6aa29d1ed | 344 | Position get_position(){ |
carlosperales95 | 45:d589318238bf | 345 | |
mglmx | 41:4fa6aa29d1ed | 346 | return *position; |
mglmx | 41:4fa6aa29d1ed | 347 | } |
mglmx | 41:4fa6aa29d1ed | 348 | |
mglmx | 41:4fa6aa29d1ed | 349 | int get_position_number(){ |
carlosperales95 | 45:d589318238bf | 350 | |
mglmx | 41:4fa6aa29d1ed | 351 | return position->get_pos(); |
mglmx | 41:4fa6aa29d1ed | 352 | } |
mglmx | 41:4fa6aa29d1ed | 353 | |
mglmx | 41:4fa6aa29d1ed | 354 | bool goes_cw(){ |
carlosperales95 | 45:d589318238bf | 355 | |
mglmx | 41:4fa6aa29d1ed | 356 | return going_cw; |
mglmx | 41:4fa6aa29d1ed | 357 | } |
mglmx | 57:ee5da8a011e0 | 358 | |
mglmx | 62:6fc0c683cb02 | 359 | |
mglmx | 57:ee5da8a011e0 | 360 | /** |
mglmx | 57:ee5da8a011e0 | 361 | * |
mglmx | 57:ee5da8a011e0 | 362 | *Checks if the element exists within the vector. |
mglmx | 57:ee5da8a011e0 | 363 | * |
mglmx | 57:ee5da8a011e0 | 364 | *@v - The vector (of ints) the method will go through. |
mglmx | 57:ee5da8a011e0 | 365 | *@element - The element the method will look for. |
mglmx | 57:ee5da8a011e0 | 366 | * |
mglmx | 57:ee5da8a011e0 | 367 | **/ |
mglmx | 57:ee5da8a011e0 | 368 | bool in_vector(vector<int>v,int element){ |
mglmx | 57:ee5da8a011e0 | 369 | |
mglmx | 57:ee5da8a011e0 | 370 | bool exist = false; |
mglmx | 57:ee5da8a011e0 | 371 | |
mglmx | 57:ee5da8a011e0 | 372 | for(int i=0; i< v.size(); i++){ |
mglmx | 57:ee5da8a011e0 | 373 | |
mglmx | 57:ee5da8a011e0 | 374 | if(v[i] == element){ |
mglmx | 57:ee5da8a011e0 | 375 | |
mglmx | 57:ee5da8a011e0 | 376 | exist = true; |
mglmx | 57:ee5da8a011e0 | 377 | } |
mglmx | 57:ee5da8a011e0 | 378 | } |
mglmx | 57:ee5da8a011e0 | 379 | return exist; |
mglmx | 57:ee5da8a011e0 | 380 | } |
mglmx | 57:ee5da8a011e0 | 381 | |
mglmx | 57:ee5da8a011e0 | 382 | bool is_in_A(){ |
mglmx | 62:6fc0c683cb02 | 383 | return in_vector(area_A,get_position_number()); |
mglmx | 57:ee5da8a011e0 | 384 | |
mglmx | 57:ee5da8a011e0 | 385 | } |
mglmx | 57:ee5da8a011e0 | 386 | |
mglmx | 57:ee5da8a011e0 | 387 | bool is_in_B(){ |
mglmx | 57:ee5da8a011e0 | 388 | |
mglmx | 62:6fc0c683cb02 | 389 | return in_vector(area_B,get_position_number()); |
mglmx | 57:ee5da8a011e0 | 390 | } |
mglmx | 41:4fa6aa29d1ed | 391 | }; |
mglmx | 41:4fa6aa29d1ed | 392 | |
carlosperales95 | 45:d589318238bf | 393 | |
carlosperales95 | 38:b9aba3715682 | 394 | //Creation of all the positions. One for every sensor on the table - Position name(mapping) |
mglmx | 35:cfcfeccb959e | 395 | Position d0(D0); |
mglmx | 35:cfcfeccb959e | 396 | Position d1(D1); |
mglmx | 35:cfcfeccb959e | 397 | Position d2(D2); |
mglmx | 35:cfcfeccb959e | 398 | Position d3(D3); |
mglmx | 35:cfcfeccb959e | 399 | Position d4(D4); |
mglmx | 35:cfcfeccb959e | 400 | Position d5(D5); |
mglmx | 35:cfcfeccb959e | 401 | Position d6(D6); |
mglmx | 35:cfcfeccb959e | 402 | Position d7(D7); |
mglmx | 35:cfcfeccb959e | 403 | Position d8(D8); |
mglmx | 35:cfcfeccb959e | 404 | Position d9(D9); |
mglmx | 35:cfcfeccb959e | 405 | Position d10(D10); |
mglmx | 35:cfcfeccb959e | 406 | Position d11(D11); |
mglmx | 35:cfcfeccb959e | 407 | Position d12(D12); |
mglmx | 35:cfcfeccb959e | 408 | Position d13(D13); |
mglmx | 35:cfcfeccb959e | 409 | Position d21(D21); |
mglmx | 35:cfcfeccb959e | 410 | Position d22(D22); |
mglmx | 35:cfcfeccb959e | 411 | |
mglmx | 43:346a1f4144cd | 412 | |
carlosperales95 | 25:a42a1ed4d8e9 | 413 | //01DCSSSS for speed, D is direction (fwd=1 and rev=0), C is speed(SSSSC) LSB |
carlosperales95 | 25:a42a1ed4d8e9 | 414 | const unsigned int DCCinst_forward = 0x68; //forward half speed |
mglmx | 51:badef9fc202f | 415 | const unsigned int DCCinst_forward_slow = 0x66; //forward slow speed (step 9) |
mglmx | 51:badef9fc202f | 416 | const unsigned int DCCinst_forward_fast = 0x6C; //Forward fast speed (step 22) |
mglmx | 51:badef9fc202f | 417 | const unsigned int DCCinst_forward_full = 0x6F; //Forward full speed |
carlosperales95 | 25:a42a1ed4d8e9 | 418 | const unsigned int DCCinst_reverse = 0x48; //reverse half speed |
carlosperales95 | 25:a42a1ed4d8e9 | 419 | const unsigned int DCCinst_stop = 0x50; //stop the train |
carlosperales95 | 25:a42a1ed4d8e9 | 420 | |
carlosperales95 | 25:a42a1ed4d8e9 | 421 | //100DDDDD for basic headlight functions |
carlosperales95 | 25:a42a1ed4d8e9 | 422 | const unsigned int DCC_func_lighton = 0x90; //F0 turns on headlight function |
carlosperales95 | 25:a42a1ed4d8e9 | 423 | const unsigned int DCC_func_dimlight = 0x91; //F0 + F1 dims headlight |
carlosperales95 | 25:a42a1ed4d8e9 | 424 | |
carlosperales95 | 25:a42a1ed4d8e9 | 425 | |
carlosperales95 | 25:a42a1ed4d8e9 | 426 | //.....SWITCH COMMAND VARS |
carlosperales95 | 25:a42a1ed4d8e9 | 427 | |
carlosperales95 | 25:a42a1ed4d8e9 | 428 | const unsigned int SWBaddress = 0x06; //Address for switch box |
carlosperales95 | 25:a42a1ed4d8e9 | 429 | |
carlosperales95 | 25:a42a1ed4d8e9 | 430 | //100DDDDD where DDDDD is the switch command and 100 is constant: |
carlosperales95 | 25:a42a1ed4d8e9 | 431 | |
carlosperales95 | 25:a42a1ed4d8e9 | 432 | //00001(F1 active)-00010(F2 active)-00100(F3 active)-01000(F4 active) |
carlosperales95 | 25:a42a1ed4d8e9 | 433 | //Example - 111111 0 00000101 0 10000000 0 10000101 1 - idle |
carlosperales95 | 25:a42a1ed4d8e9 | 434 | const unsigned int SWBidle = 0x80; //IDLE - Flip last activated SW. |
carlosperales95 | 25:a42a1ed4d8e9 | 435 | const unsigned int SWBflip_1 = 0x81; //Flip SW1 |
carlosperales95 | 25:a42a1ed4d8e9 | 436 | const unsigned int SWBflip_2 = 0x82; //Flip SW2 |
carlosperales95 | 25:a42a1ed4d8e9 | 437 | const unsigned int SWBflip_3 = 0x84; //Flip SW3 |
carlosperales95 | 25:a42a1ed4d8e9 | 438 | const unsigned int SWBflip_4 = 0x88; //Flip SW4 |
carlosperales95 | 25:a42a1ed4d8e9 | 439 | |
carlosperales95 | 40:9acc1341456a | 440 | |
mglmx | 57:ee5da8a011e0 | 441 | //.....DCC TRAIN COMMAND VARS |
mglmx | 57:ee5da8a011e0 | 442 | |
mglmx | 57:ee5da8a011e0 | 443 | //typical out of box default engine DCC address is 3 (at least for Bachmann trains) |
mglmx | 57:ee5da8a011e0 | 444 | //Note: A DCC controller can reprogram the address whenever needed |
mglmx | 57:ee5da8a011e0 | 445 | const unsigned int DCCaddressDR = 0x01; //Address for train 1 DARK-RED |
mglmx | 57:ee5da8a011e0 | 446 | const unsigned int DCCaddressLR = 0x03; //Address for train 3 LIGHT-RED |
mglmx | 57:ee5da8a011e0 | 447 | |
carlosperales95 | 45:d589318238bf | 448 | /** |
carlosperales95 | 45:d589318238bf | 449 | *Creation of 2 Train objects. |
carlosperales95 | 45:d589318238bf | 450 | *Using boolean constructor because position initialization will be done after initializing all position vectors. |
carlosperales95 | 45:d589318238bf | 451 | *DR_train = Dark Red train - LR_train = Light Red Train |
carlosperales95 | 45:d589318238bf | 452 | **/ |
mglmx | 66:45a90a945983 | 453 | Train DR_train(DCCaddressDR,MEDIUM); |
mglmx | 57:ee5da8a011e0 | 454 | Train LR_train(DCCaddressLR,MEDIUM); |
mglmx | 43:346a1f4144cd | 455 | |
carlosperales95 | 47:e992a129ef44 | 456 | //possibility of an array having {dr_train, lr_train}? for reuse and modularity of functions |
carlosperales95 | 47:e992a129ef44 | 457 | |
carlosperales95 | 47:e992a129ef44 | 458 | |
carlosperales95 | 65:8fd4046c6540 | 459 | |
mglmx | 62:6fc0c683cb02 | 460 | //****** SYSTEM LOGGER FUNCTIONS ******// |
mglmx | 62:6fc0c683cb02 | 461 | |
carlosperales95 | 45:d589318238bf | 462 | /** |
mglmx | 62:6fc0c683cb02 | 463 | * |
mglmx | 62:6fc0c683cb02 | 464 | * |
mglmx | 62:6fc0c683cb02 | 465 | * |
mglmx | 62:6fc0c683cb02 | 466 | **/ |
mglmx | 62:6fc0c683cb02 | 467 | string train_dir_toString(Train* train){ |
mglmx | 62:6fc0c683cb02 | 468 | |
mglmx | 62:6fc0c683cb02 | 469 | string dir_string; |
mglmx | 62:6fc0c683cb02 | 470 | |
mglmx | 62:6fc0c683cb02 | 471 | if(train->goes_cw()){ |
mglmx | 62:6fc0c683cb02 | 472 | |
mglmx | 62:6fc0c683cb02 | 473 | dir_string = "cw"; |
mglmx | 62:6fc0c683cb02 | 474 | }else{ |
mglmx | 62:6fc0c683cb02 | 475 | |
mglmx | 62:6fc0c683cb02 | 476 | dir_string = "ccw"; |
mglmx | 62:6fc0c683cb02 | 477 | } |
mglmx | 62:6fc0c683cb02 | 478 | return dir_string; |
mglmx | 62:6fc0c683cb02 | 479 | } |
mglmx | 62:6fc0c683cb02 | 480 | |
mglmx | 62:6fc0c683cb02 | 481 | /** |
mglmx | 62:6fc0c683cb02 | 482 | * |
mglmx | 62:6fc0c683cb02 | 483 | * |
mglmx | 62:6fc0c683cb02 | 484 | * |
mglmx | 62:6fc0c683cb02 | 485 | **/ |
mglmx | 62:6fc0c683cb02 | 486 | string train_pos_toString(Train* train){ |
mglmx | 62:6fc0c683cb02 | 487 | |
mglmx | 62:6fc0c683cb02 | 488 | int i = train->get_position_number(); |
mglmx | 62:6fc0c683cb02 | 489 | std::string tr_pos; |
mglmx | 62:6fc0c683cb02 | 490 | std::stringstream ss; |
mglmx | 62:6fc0c683cb02 | 491 | |
mglmx | 62:6fc0c683cb02 | 492 | ss << i; |
mglmx | 62:6fc0c683cb02 | 493 | tr_pos = ss.str(); |
mglmx | 62:6fc0c683cb02 | 494 | |
mglmx | 62:6fc0c683cb02 | 495 | return tr_pos; |
mglmx | 62:6fc0c683cb02 | 496 | } |
mglmx | 62:6fc0c683cb02 | 497 | |
mglmx | 62:6fc0c683cb02 | 498 | |
mglmx | 62:6fc0c683cb02 | 499 | /** |
mglmx | 62:6fc0c683cb02 | 500 | * |
mglmx | 62:6fc0c683cb02 | 501 | * |
mglmx | 62:6fc0c683cb02 | 502 | * |
mglmx | 62:6fc0c683cb02 | 503 | **/ |
mglmx | 62:6fc0c683cb02 | 504 | void logger_add(string s){ |
mglmx | 62:6fc0c683cb02 | 505 | |
mglmx | 62:6fc0c683cb02 | 506 | FILE *fp = fopen("/local/sys_log.txt", "a"); |
mglmx | 62:6fc0c683cb02 | 507 | fprintf(fp, "%s \n", s); |
mglmx | 62:6fc0c683cb02 | 508 | fclose(fp); |
mglmx | 62:6fc0c683cb02 | 509 | |
mglmx | 62:6fc0c683cb02 | 510 | } |
mglmx | 62:6fc0c683cb02 | 511 | |
mglmx | 62:6fc0c683cb02 | 512 | |
mglmx | 62:6fc0c683cb02 | 513 | /** |
mglmx | 62:6fc0c683cb02 | 514 | * |
mglmx | 62:6fc0c683cb02 | 515 | * |
mglmx | 62:6fc0c683cb02 | 516 | * |
carlosperales95 | 45:d589318238bf | 517 | **/ |
mglmx | 62:6fc0c683cb02 | 518 | void init_logger(){ |
mglmx | 62:6fc0c683cb02 | 519 | |
mglmx | 62:6fc0c683cb02 | 520 | FILE *fp = fopen("/local/sys_log.txt", "w"); |
mglmx | 62:6fc0c683cb02 | 521 | |
mglmx | 62:6fc0c683cb02 | 522 | fprintf(fp, "Log for the main train program: \n"); |
mglmx | 62:6fc0c683cb02 | 523 | fprintf(fp, "------------------------------- \n \n"); |
mglmx | 62:6fc0c683cb02 | 524 | |
mglmx | 62:6fc0c683cb02 | 525 | fclose(fp); |
mglmx | 62:6fc0c683cb02 | 526 | |
mglmx | 62:6fc0c683cb02 | 527 | } |
mglmx | 62:6fc0c683cb02 | 528 | |
mglmx | 62:6fc0c683cb02 | 529 | /** |
mglmx | 62:6fc0c683cb02 | 530 | * |
mglmx | 62:6fc0c683cb02 | 531 | * |
mglmx | 62:6fc0c683cb02 | 532 | * |
mglmx | 62:6fc0c683cb02 | 533 | **/ |
mglmx | 62:6fc0c683cb02 | 534 | void train_pos0_log(){ |
mglmx | 62:6fc0c683cb02 | 535 | |
mglmx | 62:6fc0c683cb02 | 536 | FILE *fp = fopen("/local/sys_log.txt", "a"); |
mglmx | 62:6fc0c683cb02 | 537 | |
mglmx | 62:6fc0c683cb02 | 538 | fprintf(fp, "DR_train START: D%s sensor, %s direction. \n", train_pos_toString(&DR_train), train_dir_toString(&DR_train)); |
mglmx | 62:6fc0c683cb02 | 539 | fprintf(fp, "LR_train START: D%s sensor, %s direction. \n \n", train_pos_toString(&LR_train), train_dir_toString(&LR_train)); |
mglmx | 62:6fc0c683cb02 | 540 | |
mglmx | 62:6fc0c683cb02 | 541 | fprintf(fp, "..............Program Start................ \n"); |
mglmx | 62:6fc0c683cb02 | 542 | |
mglmx | 62:6fc0c683cb02 | 543 | fclose(fp); |
mglmx | 62:6fc0c683cb02 | 544 | |
mglmx | 62:6fc0c683cb02 | 545 | } |
mglmx | 62:6fc0c683cb02 | 546 | |
carlosperales95 | 65:8fd4046c6540 | 547 | |
carlosperales95 | 65:8fd4046c6540 | 548 | /** |
carlosperales95 | 65:8fd4046c6540 | 549 | * |
carlosperales95 | 65:8fd4046c6540 | 550 | * |
carlosperales95 | 65:8fd4046c6540 | 551 | * |
carlosperales95 | 65:8fd4046c6540 | 552 | **/ |
mglmx | 62:6fc0c683cb02 | 553 | void print_next_sensors(Train* train){ |
mglmx | 62:6fc0c683cb02 | 554 | |
mglmx | 62:6fc0c683cb02 | 555 | FILE *fp = fopen("/local/sys_log.txt", "a"); |
mglmx | 62:6fc0c683cb02 | 556 | |
mglmx | 62:6fc0c683cb02 | 557 | for(int i=0; i<train->get_next_sensors().size(); i++){ |
mglmx | 62:6fc0c683cb02 | 558 | |
mglmx | 62:6fc0c683cb02 | 559 | fprintf(fp, "%d" ,train->get_next_sensors()[i]); |
mglmx | 62:6fc0c683cb02 | 560 | } |
mglmx | 62:6fc0c683cb02 | 561 | |
mglmx | 62:6fc0c683cb02 | 562 | fprintf(fp, "\n"); |
mglmx | 62:6fc0c683cb02 | 563 | fclose(fp); |
mglmx | 62:6fc0c683cb02 | 564 | |
mglmx | 62:6fc0c683cb02 | 565 | } |
mglmx | 62:6fc0c683cb02 | 566 | |
carlosperales95 | 65:8fd4046c6540 | 567 | |
carlosperales95 | 65:8fd4046c6540 | 568 | /** |
carlosperales95 | 65:8fd4046c6540 | 569 | * |
carlosperales95 | 65:8fd4046c6540 | 570 | * |
carlosperales95 | 65:8fd4046c6540 | 571 | * |
carlosperales95 | 65:8fd4046c6540 | 572 | **/ |
mglmx | 62:6fc0c683cb02 | 573 | void trains_posn_log(int sensor){ |
mglmx | 62:6fc0c683cb02 | 574 | |
mglmx | 62:6fc0c683cb02 | 575 | FILE *fp = fopen("/local/sys_log.txt", "a"); |
mglmx | 62:6fc0c683cb02 | 576 | |
mglmx | 62:6fc0c683cb02 | 577 | fprintf(fp, "SIGNAL FROM SENSOR D%d \n", sensor); |
mglmx | 62:6fc0c683cb02 | 578 | fprintf(fp, "DR_train: D%s sensor, %s direction. // Next positions: ", train_pos_toString(&DR_train), train_dir_toString(&DR_train)); |
mglmx | 62:6fc0c683cb02 | 579 | print_next_sensors(&DR_train); |
mglmx | 62:6fc0c683cb02 | 580 | |
mglmx | 62:6fc0c683cb02 | 581 | fprintf(fp, "LR_train: D%s sensor, %s direction. // Next positions: ", train_pos_toString(&LR_train), train_dir_toString(&LR_train)); |
mglmx | 62:6fc0c683cb02 | 582 | print_next_sensors(&LR_train); |
mglmx | 62:6fc0c683cb02 | 583 | fprintf(fp, "\n"); |
mglmx | 62:6fc0c683cb02 | 584 | |
mglmx | 62:6fc0c683cb02 | 585 | fclose(fp); |
mglmx | 62:6fc0c683cb02 | 586 | } |
mglmx | 62:6fc0c683cb02 | 587 | |
mglmx | 62:6fc0c683cb02 | 588 | |
mglmx | 62:6fc0c683cb02 | 589 | |
mglmx | 62:6fc0c683cb02 | 590 | |
mglmx | 18:aa43bb62e60f | 591 | |
carlosperales95 | 38:b9aba3715682 | 592 | //**************** FUNCTIONS FOR DENVER TRAIN ****************// |
carlosperales95 | 38:b9aba3715682 | 593 | |
carlosperales95 | 38:b9aba3715682 | 594 | |
mglmx | 22:e4153ca757dd | 595 | /** |
carlosperales95 | 45:d589318238bf | 596 | * |
carlosperales95 | 25:a42a1ed4d8e9 | 597 | *Activates the buzzer for 0.5 seconds. |
carlosperales95 | 45:d589318238bf | 598 | * |
mglmx | 22:e4153ca757dd | 599 | **/ |
mglmx | 22:e4153ca757dd | 600 | void doBuzz(){ |
carlosperales95 | 25:a42a1ed4d8e9 | 601 | |
mglmx | 22:e4153ca757dd | 602 | buzz = 1; |
mglmx | 22:e4153ca757dd | 603 | wait(0.5); |
mglmx | 22:e4153ca757dd | 604 | buzz = 0; |
mglmx | 22:e4153ca757dd | 605 | } |
mglmx | 18:aa43bb62e60f | 606 | |
carlosperales95 | 45:d589318238bf | 607 | |
carlosperales95 | 45:d589318238bf | 608 | /** |
carlosperales95 | 45:d589318238bf | 609 | * |
carlosperales95 | 47:e992a129ef44 | 610 | *Initializes every position's vectors (prev_cw and prev_ccw) with the corresponding sensors. |
carlosperales95 | 47:e992a129ef44 | 611 | *prev_cw - Sensors previous to the current in clockwise sense. |
carlosperales95 | 47:e992a129ef44 | 612 | *prev_ccw - Sensors previous to the current in counter-clockwise sense. |
carlosperales95 | 45:d589318238bf | 613 | * |
carlosperales95 | 45:d589318238bf | 614 | **/ |
mglmx | 35:cfcfeccb959e | 615 | void init_positions(){ |
mglmx | 36:9428c72bdd58 | 616 | |
mglmx | 35:cfcfeccb959e | 617 | d0.add_prev_cw(D1); |
mglmx | 35:cfcfeccb959e | 618 | d0.add_prev_ccw(D13); |
mglmx | 35:cfcfeccb959e | 619 | |
mglmx | 35:cfcfeccb959e | 620 | d1.add_prev_cw(D22); |
mglmx | 35:cfcfeccb959e | 621 | d1.add_prev_ccw(D0); |
mglmx | 35:cfcfeccb959e | 622 | |
mglmx | 35:cfcfeccb959e | 623 | d22.add_prev_cw(D2); |
mglmx | 35:cfcfeccb959e | 624 | d22.add_prev_ccw(D1); |
mglmx | 35:cfcfeccb959e | 625 | |
mglmx | 35:cfcfeccb959e | 626 | d2.add_prev_cw(D21); |
mglmx | 35:cfcfeccb959e | 627 | d2.add_prev_ccw(D22); |
mglmx | 35:cfcfeccb959e | 628 | |
mglmx | 35:cfcfeccb959e | 629 | d21.add_prev_cw(D3); |
mglmx | 35:cfcfeccb959e | 630 | d21.add_prev_cw(D4); |
mglmx | 35:cfcfeccb959e | 631 | d21.add_prev_ccw(D2); |
mglmx | 35:cfcfeccb959e | 632 | |
mglmx | 35:cfcfeccb959e | 633 | d3.add_prev_cw(D9); |
mglmx | 35:cfcfeccb959e | 634 | d3.add_prev_ccw(D21); |
mglmx | 35:cfcfeccb959e | 635 | |
mglmx | 35:cfcfeccb959e | 636 | d4.add_prev_cw(D6); |
mglmx | 35:cfcfeccb959e | 637 | d4.add_prev_ccw(D21); |
mglmx | 35:cfcfeccb959e | 638 | |
mglmx | 35:cfcfeccb959e | 639 | d5.add_prev_cw(D6); |
mglmx | 35:cfcfeccb959e | 640 | d5.add_prev_ccw(D11); |
mglmx | 35:cfcfeccb959e | 641 | |
mglmx | 35:cfcfeccb959e | 642 | d6.add_prev_cw(D7); |
mglmx | 35:cfcfeccb959e | 643 | d6.add_prev_ccw(D4); |
mglmx | 35:cfcfeccb959e | 644 | d6.add_prev_ccw(D5); |
mglmx | 35:cfcfeccb959e | 645 | |
mglmx | 35:cfcfeccb959e | 646 | d7.add_prev_cw(D8); |
mglmx | 35:cfcfeccb959e | 647 | d7.add_prev_ccw(D6); |
mglmx | 35:cfcfeccb959e | 648 | |
mglmx | 36:9428c72bdd58 | 649 | d8.add_prev_cw(D9); |
mglmx | 36:9428c72bdd58 | 650 | d8.add_prev_cw(D10); |
mglmx | 36:9428c72bdd58 | 651 | d8.add_prev_ccw(D7); |
mglmx | 36:9428c72bdd58 | 652 | |
mglmx | 35:cfcfeccb959e | 653 | d9.add_prev_cw(D3); |
mglmx | 35:cfcfeccb959e | 654 | d9.add_prev_ccw(D8); |
mglmx | 35:cfcfeccb959e | 655 | |
mglmx | 35:cfcfeccb959e | 656 | d10.add_prev_cw(D12); |
mglmx | 35:cfcfeccb959e | 657 | d10.add_prev_ccw(D8); |
mglmx | 35:cfcfeccb959e | 658 | |
mglmx | 35:cfcfeccb959e | 659 | d11.add_prev_cw(D12); |
mglmx | 35:cfcfeccb959e | 660 | d11.add_prev_ccw(D5); |
mglmx | 35:cfcfeccb959e | 661 | |
mglmx | 35:cfcfeccb959e | 662 | d12.add_prev_cw(D13); |
mglmx | 35:cfcfeccb959e | 663 | d12.add_prev_ccw(D10); |
mglmx | 35:cfcfeccb959e | 664 | d12.add_prev_ccw(D11); |
mglmx | 35:cfcfeccb959e | 665 | |
mglmx | 35:cfcfeccb959e | 666 | d13.add_prev_cw(D0); |
mglmx | 35:cfcfeccb959e | 667 | d13.add_prev_ccw(D12); |
mglmx | 36:9428c72bdd58 | 668 | |
mglmx | 36:9428c72bdd58 | 669 | //Initialize array with positions |
mglmx | 36:9428c72bdd58 | 670 | positions.push_back(d0); |
mglmx | 36:9428c72bdd58 | 671 | positions.push_back(d1); |
mglmx | 36:9428c72bdd58 | 672 | positions.push_back(d2); |
mglmx | 36:9428c72bdd58 | 673 | positions.push_back(d3); |
mglmx | 36:9428c72bdd58 | 674 | positions.push_back(d4); |
mglmx | 36:9428c72bdd58 | 675 | positions.push_back(d5); |
mglmx | 36:9428c72bdd58 | 676 | positions.push_back(d6); |
mglmx | 36:9428c72bdd58 | 677 | positions.push_back(d7); |
mglmx | 36:9428c72bdd58 | 678 | positions.push_back(d8); |
mglmx | 36:9428c72bdd58 | 679 | positions.push_back(d9); |
mglmx | 36:9428c72bdd58 | 680 | positions.push_back(d10); |
mglmx | 36:9428c72bdd58 | 681 | positions.push_back(d11); |
mglmx | 36:9428c72bdd58 | 682 | positions.push_back(d12); |
mglmx | 36:9428c72bdd58 | 683 | positions.push_back(d13); |
mglmx | 36:9428c72bdd58 | 684 | positions.push_back(d21); |
mglmx | 36:9428c72bdd58 | 685 | positions.push_back(d22); |
mglmx | 35:cfcfeccb959e | 686 | } |
carlosperales95 | 24:1d71dd8778c4 | 687 | |
carlosperales95 | 45:d589318238bf | 688 | |
mglmx | 22:e4153ca757dd | 689 | /** |
carlosperales95 | 24:1d71dd8778c4 | 690 | * |
carlosperales95 | 28:71bd4c83c05f | 691 | *Here we initialize the mcp that will be used to manage the interrupts. |
carlosperales95 | 25:a42a1ed4d8e9 | 692 | * |
carlosperales95 | 24:1d71dd8778c4 | 693 | **/ |
mglmx | 18:aa43bb62e60f | 694 | void initialize_mcp(){ |
mglmx | 33:24ce12dec157 | 695 | mcp = new MCP23017(i2c,0x40); //Connect to SCL - p28 and SDA - p27 and MPC I2C address 0x40 |
mglmx | 18:aa43bb62e60f | 696 | |
mglmx | 33:24ce12dec157 | 697 | mcp->_write(IODIRA, (unsigned char )0xff); |
mglmx | 33:24ce12dec157 | 698 | mcp->_write(IODIRB, (unsigned char )0xff); |
mglmx | 33:24ce12dec157 | 699 | mcp->_write(IPOLA, (unsigned char )0x00); |
mglmx | 33:24ce12dec157 | 700 | mcp->_write(IPOLB, (unsigned char )0x00); |
mglmx | 33:24ce12dec157 | 701 | mcp->_write(DEFVALA, (unsigned char )0xff); |
mglmx | 33:24ce12dec157 | 702 | mcp->_write(DEFVALB, (unsigned char )0xff); |
mglmx | 33:24ce12dec157 | 703 | mcp->_write(INTCONA, (unsigned char )0xff); |
mglmx | 33:24ce12dec157 | 704 | mcp->_write(INTCONB, (unsigned char )0xff); |
mglmx | 33:24ce12dec157 | 705 | mcp->_write(IOCONA, (unsigned char )0x2); |
mglmx | 33:24ce12dec157 | 706 | mcp->_write(IOCONB, (unsigned char )0x2); |
mglmx | 33:24ce12dec157 | 707 | mcp->_write(GPPUA, (unsigned char )0xff); |
mglmx | 33:24ce12dec157 | 708 | mcp->_write(GPPUB, (unsigned char )0xff); |
mglmx | 33:24ce12dec157 | 709 | |
mglmx | 18:aa43bb62e60f | 710 | } |
mglmx | 18:aa43bb62e60f | 711 | |
carlosperales95 | 45:d589318238bf | 712 | |
carlosperales95 | 24:1d71dd8778c4 | 713 | /** |
carlosperales95 | 24:1d71dd8778c4 | 714 | * |
carlosperales95 | 37:bb15bea420a3 | 715 | *Returns the number of the sensor where the train was detected. |
carlosperales95 | 37:bb15bea420a3 | 716 | * |
carlosperales95 | 47:e992a129ef44 | 717 | *@number - |
carlosperales95 | 47:e992a129ef44 | 718 | *@interrupt - |
carlosperales95 | 47:e992a129ef44 | 719 | * |
carlosperales95 | 37:bb15bea420a3 | 720 | **/ |
mglmx | 34:c9ab2a987734 | 721 | int get_sensor(unsigned int number,int interrupt){ |
carlosperales95 | 45:d589318238bf | 722 | |
mglmx | 34:c9ab2a987734 | 723 | int sensor = -1; |
mglmx | 34:c9ab2a987734 | 724 | |
carlosperales95 | 37:bb15bea420a3 | 725 | for(int i=0; i<8; i++){ |
mglmx | 34:c9ab2a987734 | 726 | |
carlosperales95 | 45:d589318238bf | 727 | if(~number & 1<<i){ |
carlosperales95 | 45:d589318238bf | 728 | |
mglmx | 34:c9ab2a987734 | 729 | sensor = i; |
mglmx | 34:c9ab2a987734 | 730 | } |
mglmx | 34:c9ab2a987734 | 731 | } |
mglmx | 34:c9ab2a987734 | 732 | |
mglmx | 34:c9ab2a987734 | 733 | if(interrupt == 1){ |
carlosperales95 | 45:d589318238bf | 734 | |
carlosperales95 | 37:bb15bea420a3 | 735 | sensor+= 8; // Sensors caught by interreupt1 are identified from 8 to 15. |
mglmx | 34:c9ab2a987734 | 736 | } |
carlosperales95 | 45:d589318238bf | 737 | |
mglmx | 34:c9ab2a987734 | 738 | return sensor; |
mglmx | 34:c9ab2a987734 | 739 | } |
mglmx | 34:c9ab2a987734 | 740 | |
carlosperales95 | 65:8fd4046c6540 | 741 | |
mglmx | 62:6fc0c683cb02 | 742 | /** |
mglmx | 62:6fc0c683cb02 | 743 | * |
mglmx | 62:6fc0c683cb02 | 744 | *Method to flip the switches |
mglmx | 62:6fc0c683cb02 | 745 | * |
mglmx | 62:6fc0c683cb02 | 746 | *@switchId - (1-4)The ID of the switch we want to flip |
mglmx | 62:6fc0c683cb02 | 747 | *@times - The number of times we want to send the command |
mglmx | 62:6fc0c683cb02 | 748 | *@activate - True if the switch is going to be activated. False if it needs to go back to rest position. |
mglmx | 62:6fc0c683cb02 | 749 | * |
mglmx | 62:6fc0c683cb02 | 750 | **/ |
mglmx | 62:6fc0c683cb02 | 751 | void flip_switch(int switchId, int times, bool activate=true){ |
mglmx | 62:6fc0c683cb02 | 752 | |
mglmx | 62:6fc0c683cb02 | 753 | unsigned int SWBflip = SWBidle; //IDLE - Flip last activated SW. |
mglmx | 62:6fc0c683cb02 | 754 | |
mglmx | 62:6fc0c683cb02 | 755 | switch(switchId){ |
mglmx | 62:6fc0c683cb02 | 756 | |
mglmx | 62:6fc0c683cb02 | 757 | case 1: |
mglmx | 62:6fc0c683cb02 | 758 | SWBflip = SWBflip_1; //FLIP SW1 |
mglmx | 62:6fc0c683cb02 | 759 | break; |
mglmx | 62:6fc0c683cb02 | 760 | |
mglmx | 62:6fc0c683cb02 | 761 | case 2: |
mglmx | 62:6fc0c683cb02 | 762 | SWBflip = SWBflip_2; //FLIP SW2 |
mglmx | 62:6fc0c683cb02 | 763 | break; |
mglmx | 62:6fc0c683cb02 | 764 | |
mglmx | 62:6fc0c683cb02 | 765 | case 3: |
mglmx | 66:45a90a945983 | 766 | SWBflip = SWBidle; //FLIP SW3 |
mglmx | 62:6fc0c683cb02 | 767 | break; |
mglmx | 62:6fc0c683cb02 | 768 | |
mglmx | 62:6fc0c683cb02 | 769 | case 4: |
mglmx | 62:6fc0c683cb02 | 770 | SWBflip = SWBflip_4; //FLIP SW4 |
mglmx | 62:6fc0c683cb02 | 771 | break; |
mglmx | 62:6fc0c683cb02 | 772 | |
mglmx | 62:6fc0c683cb02 | 773 | default: |
mglmx | 62:6fc0c683cb02 | 774 | break; |
mglmx | 62:6fc0c683cb02 | 775 | } |
mglmx | 62:6fc0c683cb02 | 776 | |
mglmx | 62:6fc0c683cb02 | 777 | //Security measure not to burn the switch. |
mglmx | 66:45a90a945983 | 778 | |
mglmx | 62:6fc0c683cb02 | 779 | |
mglmx | 66:45a90a945983 | 780 | DCC_send_command(SWBaddress,SWBflip,times); //Activating switchç |
mglmx | 66:45a90a945983 | 781 | |
mglmx | 66:45a90a945983 | 782 | /* |
mglmx | 66:45a90a945983 | 783 | if(switchId == 3){ |
mglmx | 66:45a90a945983 | 784 | DCC_send_command(SWBaddress,SWBidle,times); //Activating switch |
mglmx | 66:45a90a945983 | 785 | } |
mglmx | 66:45a90a945983 | 786 | */ |
mglmx | 66:45a90a945983 | 787 | |
mglmx | 66:45a90a945983 | 788 | |
mglmx | 66:45a90a945983 | 789 | |
mglmx | 62:6fc0c683cb02 | 790 | if(!activate){ |
mglmx | 66:45a90a945983 | 791 | if(switchId == 3){ |
mglmx | 66:45a90a945983 | 792 | DCC_send_command(SWBaddress,SWBflip_3,times); // Exception for switch 3 |
mglmx | 66:45a90a945983 | 793 | }else{ |
mglmx | 66:45a90a945983 | 794 | DCC_send_command(SWBaddress,SWBidle,times); |
mglmx | 66:45a90a945983 | 795 | } |
mglmx | 62:6fc0c683cb02 | 796 | } |
mglmx | 66:45a90a945983 | 797 | |
mglmx | 62:6fc0c683cb02 | 798 | } |
mglmx | 62:6fc0c683cb02 | 799 | |
mglmx | 62:6fc0c683cb02 | 800 | /** |
mglmx | 62:6fc0c683cb02 | 801 | * Action to do when NAC is detected |
mglmx | 62:6fc0c683cb02 | 802 | * Booster is disabled and the buzz is activated |
mglmx | 62:6fc0c683cb02 | 803 | * |
mglmx | 62:6fc0c683cb02 | 804 | */ |
mglmx | 62:6fc0c683cb02 | 805 | void NAC_action(){ |
mglmx | 62:6fc0c683cb02 | 806 | enable = 0; |
mglmx | 62:6fc0c683cb02 | 807 | doBuzz(); |
mglmx | 62:6fc0c683cb02 | 808 | } |
mglmx | 62:6fc0c683cb02 | 809 | |
mglmx | 62:6fc0c683cb02 | 810 | |
carlosperales95 | 45:d589318238bf | 811 | |
carlosperales95 | 42:b445252a772a | 812 | /** |
mglmx | 57:ee5da8a011e0 | 813 | *This method will check if there is a non-avoidable frontal collision(NAFC). |
carlosperales95 | 47:e992a129ef44 | 814 | *A NAFC will happen if: |
carlosperales95 | 47:e992a129ef44 | 815 | * |
carlosperales95 | 47:e992a129ef44 | 816 | *Both trains in area A or B with different direction |
carlosperales95 | 47:e992a129ef44 | 817 | *Trains in (D11 and D5) or (D9 and D3) with same direction |
carlosperales95 | 47:e992a129ef44 | 818 | * |
mglmx | 43:346a1f4144cd | 819 | */ |
mglmx | 57:ee5da8a011e0 | 820 | bool check_NAC(){ |
carlosperales95 | 45:d589318238bf | 821 | |
mglmx | 43:346a1f4144cd | 822 | bool NAC = false; |
mglmx | 43:346a1f4144cd | 823 | |
mglmx | 57:ee5da8a011e0 | 824 | if((DR_train.is_in_A() && LR_train.is_in_A()) || (DR_train.is_in_B() && LR_train.is_in_B()) ){ //Check if both are in same area |
carlosperales95 | 45:d589318238bf | 825 | |
mglmx | 43:346a1f4144cd | 826 | if(DR_train.goes_cw() ^ LR_train.goes_cw()){ //XOR: They must have different values to be true (Different direction) |
mglmx | 66:45a90a945983 | 827 | lcd.cls(); |
mglmx | 66:45a90a945983 | 828 | lcd.printf("NAC Both area A or B"); |
mglmx | 43:346a1f4144cd | 829 | NAC = true; |
mglmx | 43:346a1f4144cd | 830 | } |
mglmx | 67:7ff2425141ce | 831 | }else if(((DR_train.get_position_number() == D11) && (LR_train.get_position_number() == D5 ) ) || ((LR_train.get_position_number() == D5) && (DR_train.get_position_number() == D11 ))){ //Check if they are in position D11 and D5 |
carlosperales95 | 45:d589318238bf | 832 | |
mglmx | 43:346a1f4144cd | 833 | if(!(DR_train.goes_cw() ^ LR_train.goes_cw())){ // NOT XOR: They must have same values to be true (Same direction) |
mglmx | 66:45a90a945983 | 834 | lcd.cls(); |
mglmx | 67:7ff2425141ce | 835 | lcd.printf("NAC D11 and D5"); |
mglmx | 43:346a1f4144cd | 836 | NAC = true; |
mglmx | 43:346a1f4144cd | 837 | } |
mglmx | 67:7ff2425141ce | 838 | }else if(((DR_train.get_position_number() == D9) && (LR_train.get_position_number() == D3)) || ((LR_train.get_position_number() == D9) && (DR_train.get_position_number() == D3)) ){//Check if they are in position D9 and D3 |
carlosperales95 | 45:d589318238bf | 839 | |
mglmx | 43:346a1f4144cd | 840 | if(!(DR_train.goes_cw() ^ LR_train.goes_cw())){ // NOT XOR: They must have same values to be true (Same direction) |
mglmx | 66:45a90a945983 | 841 | lcd.cls(); |
mglmx | 67:7ff2425141ce | 842 | lcd.printf("NAC D9 and D3"); |
mglmx | 43:346a1f4144cd | 843 | NAC = true; |
mglmx | 43:346a1f4144cd | 844 | } |
mglmx | 43:346a1f4144cd | 845 | } |
carlosperales95 | 45:d589318238bf | 846 | return NAC; |
mglmx | 43:346a1f4144cd | 847 | } |
mglmx | 43:346a1f4144cd | 848 | |
mglmx | 62:6fc0c683cb02 | 849 | /** |
mglmx | 62:6fc0c683cb02 | 850 | * Switch_n switch that needs to switch |
carlosperales95 | 63:86f8dfa007ac | 851 | * cont_sensor sensor that when activated the stopped train continues |
mglmx | 62:6fc0c683cb02 | 852 | * switch_sensor sensor where the switch should be activated |
mglmx | 66:45a90a945983 | 853 | */ |
mglmx | 62:6fc0c683cb02 | 854 | void AFC_action(int switch_n, int cont_sensor, int switch_sensor, Train *stop_train, Train * cont_train ){ |
mglmx | 62:6fc0c683cb02 | 855 | bool send_pack_switch = false; |
mglmx | 55:aa3baa01f43d | 856 | |
mglmx | 62:6fc0c683cb02 | 857 | //flip_switch(switch_n,5); |
mglmx | 55:aa3baa01f43d | 858 | |
mglmx | 66:45a90a945983 | 859 | if(switch_n == 3){ |
mglmx | 66:45a90a945983 | 860 | DCC_send_command(SWBaddress,SWBflip_3,15); //Activating switchç |
mglmx | 66:45a90a945983 | 861 | } |
mglmx | 66:45a90a945983 | 862 | |
mglmx | 62:6fc0c683cb02 | 863 | while(cont_train->get_position_number() != cont_sensor){ |
mglmx | 62:6fc0c683cb02 | 864 | if(cont_train->get_position_number() == switch_sensor){ |
mglmx | 62:6fc0c683cb02 | 865 | send_pack_switch = true; |
mglmx | 62:6fc0c683cb02 | 866 | } |
mglmx | 62:6fc0c683cb02 | 867 | stop_train->set_speed(STOP); |
mglmx | 62:6fc0c683cb02 | 868 | stop_train->run(); //Stopping train on sensor D4 or D10 |
mglmx | 62:6fc0c683cb02 | 869 | cont_train->run(); |
mglmx | 62:6fc0c683cb02 | 870 | |
mglmx | 62:6fc0c683cb02 | 871 | if(send_pack_switch){ |
mglmx | 62:6fc0c683cb02 | 872 | lcd.cls(); |
mglmx | 62:6fc0c683cb02 | 873 | lcd.printf("Switching SW%d",switch_n); |
mglmx | 62:6fc0c683cb02 | 874 | flip_switch(switch_n,5); |
mglmx | 62:6fc0c683cb02 | 875 | } |
mglmx | 55:aa3baa01f43d | 876 | } |
mglmx | 62:6fc0c683cb02 | 877 | |
mglmx | 66:45a90a945983 | 878 | if(switch_n == 3){ |
mglmx | 66:45a90a945983 | 879 | DCC_send_command(SWBaddress,SWBflip_3,15); //Activating switch |
mglmx | 66:45a90a945983 | 880 | }else{ |
mglmx | 66:45a90a945983 | 881 | flip_switch(5,5); //Send IDLE command |
mglmx | 66:45a90a945983 | 882 | } |
mglmx | 66:45a90a945983 | 883 | |
mglmx | 66:45a90a945983 | 884 | stop_train->set_speed(MEDIUM); |
mglmx | 66:45a90a945983 | 885 | |
mglmx | 62:6fc0c683cb02 | 886 | |
mglmx | 55:aa3baa01f43d | 887 | } |
carlosperales95 | 45:d589318238bf | 888 | |
carlosperales95 | 68:9859a3ff9298 | 889 | /** |
carlosperales95 | 68:9859a3ff9298 | 890 | * Switch_n switch that needs to switch |
carlosperales95 | 68:9859a3ff9298 | 891 | * cont_sensor sensor that when activated the stopped train continues |
carlosperales95 | 68:9859a3ff9298 | 892 | * switch_sensor sensor where the switch should be activated |
carlosperales95 | 68:9859a3ff9298 | 893 | */ |
carlosperales95 | 68:9859a3ff9298 | 894 | void ALC_action(int cont_sensor, Train *stop_train, Train * cont_train ){ |
carlosperales95 | 68:9859a3ff9298 | 895 | |
carlosperales95 | 68:9859a3ff9298 | 896 | //flip_switch(switch_n,5); |
carlosperales95 | 68:9859a3ff9298 | 897 | |
carlosperales95 | 68:9859a3ff9298 | 898 | while(cont_train->get_position_number() != cont_sensor){ |
carlosperales95 | 68:9859a3ff9298 | 899 | |
carlosperales95 | 68:9859a3ff9298 | 900 | stop_train->set_speed(STOP); |
carlosperales95 | 68:9859a3ff9298 | 901 | stop_train->run(); //Stopping train on sensor D4 or D10 |
carlosperales95 | 68:9859a3ff9298 | 902 | cont_train->run(); |
carlosperales95 | 68:9859a3ff9298 | 903 | } |
carlosperales95 | 68:9859a3ff9298 | 904 | |
carlosperales95 | 68:9859a3ff9298 | 905 | stop_train->set_speed(MEDIUM); |
carlosperales95 | 68:9859a3ff9298 | 906 | } |
mglmx | 66:45a90a945983 | 907 | |
carlosperales95 | 58:b60db1092088 | 908 | |
mglmx | 43:346a1f4144cd | 909 | /** |
carlosperales95 | 47:e992a129ef44 | 910 | * |
mglmx | 55:aa3baa01f43d | 911 | *The function will check if there is an Avoidable Frontal Collision (AFC). |
carlosperales95 | 47:e992a129ef44 | 912 | *AFC will occur if: |
carlosperales95 | 47:e992a129ef44 | 913 | * |
carlosperales95 | 47:e992a129ef44 | 914 | *Train in area A(ccw) and train in D4(cw) |
carlosperales95 | 47:e992a129ef44 | 915 | *Train in area A(cw) and train in D10(ccw) |
carlosperales95 | 47:e992a129ef44 | 916 | *Train in area B(cw) and train in D4(ccw) |
mglmx | 62:6fc0c683cb02 | 917 | *Train in area B(ccw) and train in D10(ccw) |
mglmx | 62:6fc0c683cb02 | 918 | * |
mglmx | 62:6fc0c683cb02 | 919 | *stop_train is the train that is going to stop in sensors D4 or D10 until the other train passes |
mglmx | 62:6fc0c683cb02 | 920 | *cont_train is the train that won't stop and will do the switch |
carlosperales95 | 47:e992a129ef44 | 921 | * |
mglmx | 66:45a90a945983 | 922 | **/ |
mglmx | 62:6fc0c683cb02 | 923 | bool check_AFC(Train *stop_train, Train *cont_train){ //TODO - Add same for LR train |
mglmx | 62:6fc0c683cb02 | 924 | bool detected_AFC = false; |
mglmx | 62:6fc0c683cb02 | 925 | if( stop_train->get_position_number() == D4){ |
carlosperales95 | 45:d589318238bf | 926 | |
mglmx | 62:6fc0c683cb02 | 927 | if(stop_train->goes_cw()){ |
carlosperales95 | 45:d589318238bf | 928 | |
mglmx | 62:6fc0c683cb02 | 929 | if(cont_train->is_in_A() && !cont_train->goes_cw()){ |
mglmx | 62:6fc0c683cb02 | 930 | |
mglmx | 62:6fc0c683cb02 | 931 | lcd.cls(); |
mglmx | 62:6fc0c683cb02 | 932 | lcd.printf("AFC!!! STOP D4 SW2 CONT D3"); |
carlosperales95 | 45:d589318238bf | 933 | |
mglmx | 62:6fc0c683cb02 | 934 | AFC_action(2,D3,D2,stop_train,cont_train); |
mglmx | 62:6fc0c683cb02 | 935 | //Activate switch2 |
mglmx | 62:6fc0c683cb02 | 936 | //When cont_train is at D3 stop_train continues |
mglmx | 62:6fc0c683cb02 | 937 | |
mglmx | 62:6fc0c683cb02 | 938 | detected_AFC = true; |
mglmx | 43:346a1f4144cd | 939 | } |
mglmx | 43:346a1f4144cd | 940 | }else{ //DR goes ccw |
carlosperales95 | 45:d589318238bf | 941 | |
mglmx | 62:6fc0c683cb02 | 942 | if(cont_train->is_in_B() && cont_train->goes_cw()){ |
carlosperales95 | 45:d589318238bf | 943 | |
mglmx | 62:6fc0c683cb02 | 944 | lcd.cls(); |
mglmx | 62:6fc0c683cb02 | 945 | lcd.printf("AFC!!! STOP D4 SW3 CONT D5"); |
mglmx | 62:6fc0c683cb02 | 946 | |
mglmx | 62:6fc0c683cb02 | 947 | AFC_action(3,D5,D6,stop_train,cont_train); |
mglmx | 43:346a1f4144cd | 948 | //DR_train stops |
mglmx | 43:346a1f4144cd | 949 | //Activate switch3 |
mglmx | 43:346a1f4144cd | 950 | //When LR is at D5 DR continues |
mglmx | 62:6fc0c683cb02 | 951 | detected_AFC = true; |
mglmx | 43:346a1f4144cd | 952 | } |
mglmx | 43:346a1f4144cd | 953 | } |
mglmx | 43:346a1f4144cd | 954 | |
mglmx | 62:6fc0c683cb02 | 955 | }else if(stop_train->get_position_number() == D10){ |
carlosperales95 | 45:d589318238bf | 956 | |
mglmx | 62:6fc0c683cb02 | 957 | if(stop_train->goes_cw()){ |
carlosperales95 | 45:d589318238bf | 958 | |
mglmx | 62:6fc0c683cb02 | 959 | if(cont_train->is_in_B() && !cont_train->goes_cw()){ |
mglmx | 62:6fc0c683cb02 | 960 | lcd.cls(); |
mglmx | 62:6fc0c683cb02 | 961 | lcd.printf("AFC!!! STOP D10 SW4 CONT D9"); |
carlosperales95 | 45:d589318238bf | 962 | |
mglmx | 62:6fc0c683cb02 | 963 | AFC_action(4,D9,D8,stop_train,cont_train); |
mglmx | 43:346a1f4144cd | 964 | //DR train stops |
mglmx | 43:346a1f4144cd | 965 | //Activate switch4 |
mglmx | 43:346a1f4144cd | 966 | //When LR is at D9 DR continues |
mglmx | 62:6fc0c683cb02 | 967 | detected_AFC = true; |
mglmx | 43:346a1f4144cd | 968 | } |
mglmx | 43:346a1f4144cd | 969 | }else{ |
carlosperales95 | 45:d589318238bf | 970 | |
mglmx | 62:6fc0c683cb02 | 971 | if(cont_train->is_in_A() && cont_train->goes_cw()){ |
mglmx | 62:6fc0c683cb02 | 972 | lcd.cls(); |
mglmx | 62:6fc0c683cb02 | 973 | lcd.printf("AFC!!! STOP D10 SW1 CONT D11"); |
mglmx | 62:6fc0c683cb02 | 974 | AFC_action(1,D11,D12,stop_train,cont_train); |
mglmx | 43:346a1f4144cd | 975 | //DR train stops |
mglmx | 43:346a1f4144cd | 976 | //Activate switch1 |
mglmx | 62:6fc0c683cb02 | 977 | //When LR is at D11 DR continues |
mglmx | 62:6fc0c683cb02 | 978 | detected_AFC = true; |
mglmx | 43:346a1f4144cd | 979 | } |
mglmx | 43:346a1f4144cd | 980 | } |
carlosperales95 | 68:9859a3ff9298 | 981 | }else if(stop_train->get_position_number() == D9){ |
carlosperales95 | 68:9859a3ff9298 | 982 | |
carlosperales95 | 68:9859a3ff9298 | 983 | if(stop_train->goes_cw()){ |
carlosperales95 | 68:9859a3ff9298 | 984 | |
carlosperales95 | 68:9859a3ff9298 | 985 | if(cont_train->is_in_B() && !cont_train->goes_cw()){ |
carlosperales95 | 68:9859a3ff9298 | 986 | |
carlosperales95 | 68:9859a3ff9298 | 987 | lcd.cls(); |
carlosperales95 | 68:9859a3ff9298 | 988 | lcd.printf("AFC!!! STOP D9 CONT D8"); |
carlosperales95 | 68:9859a3ff9298 | 989 | AFC_action(5, D10, D4, stop_train, cont_train); |
carlosperales95 | 68:9859a3ff9298 | 990 | //train in 9 stops |
carlosperales95 | 68:9859a3ff9298 | 991 | //when cont_train is at d10 stop train continues |
carlosperales95 | 68:9859a3ff9298 | 992 | detected_AFC = true; |
carlosperales95 | 68:9859a3ff9298 | 993 | } |
carlosperales95 | 68:9859a3ff9298 | 994 | } |
carlosperales95 | 68:9859a3ff9298 | 995 | |
carlosperales95 | 68:9859a3ff9298 | 996 | }else if(stop_train->get_position_number() == D11){ |
carlosperales95 | 68:9859a3ff9298 | 997 | |
carlosperales95 | 68:9859a3ff9298 | 998 | if(!stop_train->goes_cw()){ |
carlosperales95 | 68:9859a3ff9298 | 999 | |
carlosperales95 | 68:9859a3ff9298 | 1000 | if(cont_train->is_in_A() && cont_train->goes_cw()){ |
carlosperales95 | 68:9859a3ff9298 | 1001 | |
carlosperales95 | 68:9859a3ff9298 | 1002 | lcd.cls(); |
carlosperales95 | 68:9859a3ff9298 | 1003 | lcd.printf("AFC!!! STOP D11 CONT D12"); |
carlosperales95 | 68:9859a3ff9298 | 1004 | AFC_action(5, D10, D4, stop_train, cont_train); |
carlosperales95 | 68:9859a3ff9298 | 1005 | //train in 11 stops |
carlosperales95 | 68:9859a3ff9298 | 1006 | //when cont_train is at d10 stop train continues |
carlosperales95 | 68:9859a3ff9298 | 1007 | detected_AFC = true; |
carlosperales95 | 68:9859a3ff9298 | 1008 | } |
carlosperales95 | 68:9859a3ff9298 | 1009 | } |
carlosperales95 | 68:9859a3ff9298 | 1010 | |
carlosperales95 | 68:9859a3ff9298 | 1011 | }else if(stop_train->get_position_number() == D3){ |
carlosperales95 | 68:9859a3ff9298 | 1012 | |
carlosperales95 | 68:9859a3ff9298 | 1013 | if(stop_train->goes_cw()){ |
carlosperales95 | 68:9859a3ff9298 | 1014 | |
carlosperales95 | 68:9859a3ff9298 | 1015 | if(cont_train->is_in_A() && !cont_train->goes_cw()){ |
carlosperales95 | 68:9859a3ff9298 | 1016 | |
carlosperales95 | 68:9859a3ff9298 | 1017 | lcd.cls(); |
carlosperales95 | 68:9859a3ff9298 | 1018 | lcd.printf("AFC!!! STOP D3 CONT D14"); |
carlosperales95 | 68:9859a3ff9298 | 1019 | AFC_action(5, D4, D10, stop_train, cont_train); |
carlosperales95 | 68:9859a3ff9298 | 1020 | //train in 3 stops |
carlosperales95 | 68:9859a3ff9298 | 1021 | //when cont_train is at d4 stop train continues |
carlosperales95 | 68:9859a3ff9298 | 1022 | detected_AFC = true; |
carlosperales95 | 68:9859a3ff9298 | 1023 | } |
carlosperales95 | 68:9859a3ff9298 | 1024 | } |
carlosperales95 | 68:9859a3ff9298 | 1025 | |
carlosperales95 | 68:9859a3ff9298 | 1026 | }else if(stop_train->get_position_number() == D5){ |
carlosperales95 | 68:9859a3ff9298 | 1027 | |
carlosperales95 | 68:9859a3ff9298 | 1028 | if(!stop_train->goes_cw()){ |
carlosperales95 | 68:9859a3ff9298 | 1029 | |
carlosperales95 | 68:9859a3ff9298 | 1030 | if(cont_train->is_in_B() && cont_train->goes_cw()){ |
carlosperales95 | 68:9859a3ff9298 | 1031 | |
carlosperales95 | 68:9859a3ff9298 | 1032 | lcd.cls(); |
carlosperales95 | 68:9859a3ff9298 | 1033 | lcd.printf("AFC!!! STOP D5 CONT D6"); |
carlosperales95 | 68:9859a3ff9298 | 1034 | AFC_action(5, D4, D10, stop_train, cont_train); |
carlosperales95 | 68:9859a3ff9298 | 1035 | //train in 5 stops |
carlosperales95 | 68:9859a3ff9298 | 1036 | //when cont_train is at d4 stop train continues |
carlosperales95 | 68:9859a3ff9298 | 1037 | detected_AFC = true; |
carlosperales95 | 68:9859a3ff9298 | 1038 | } |
carlosperales95 | 68:9859a3ff9298 | 1039 | } |
mglmx | 43:346a1f4144cd | 1040 | } |
mglmx | 62:6fc0c683cb02 | 1041 | return detected_AFC; |
mglmx | 66:45a90a945983 | 1042 | } |
mglmx | 43:346a1f4144cd | 1043 | |
carlosperales95 | 45:d589318238bf | 1044 | |
carlosperales95 | 45:d589318238bf | 1045 | /** |
carlosperales95 | 45:d589318238bf | 1046 | * |
carlosperales95 | 63:86f8dfa007ac | 1047 | * |
carlosperales95 | 63:86f8dfa007ac | 1048 | * |
carlosperales95 | 68:9859a3ff9298 | 1049 | **/ |
carlosperales95 | 63:86f8dfa007ac | 1050 | bool check_ALC(Train *stop_train, Train *cont_train){ //TODO - Add same for LR train |
carlosperales95 | 64:be1015efd974 | 1051 | |
carlosperales95 | 63:86f8dfa007ac | 1052 | bool detected_ALC = false; |
carlosperales95 | 63:86f8dfa007ac | 1053 | if( stop_train->get_position_number() == D4){ |
carlosperales95 | 63:86f8dfa007ac | 1054 | |
carlosperales95 | 63:86f8dfa007ac | 1055 | if(stop_train->goes_cw()){ |
carlosperales95 | 63:86f8dfa007ac | 1056 | |
carlosperales95 | 63:86f8dfa007ac | 1057 | if(cont_train->get_position_number() == D3 && cont_train->goes_cw()){ |
carlosperales95 | 63:86f8dfa007ac | 1058 | |
carlosperales95 | 63:86f8dfa007ac | 1059 | lcd.cls(); |
carlosperales95 | 63:86f8dfa007ac | 1060 | lcd.printf("ALC!!! STOP D4 CONT D3"); |
carlosperales95 | 63:86f8dfa007ac | 1061 | |
carlosperales95 | 68:9859a3ff9298 | 1062 | ALC_action(2, stop_train, cont_train ); |
carlosperales95 | 63:86f8dfa007ac | 1063 | //When cont_train is at D22 stop_train continues |
carlosperales95 | 63:86f8dfa007ac | 1064 | |
carlosperales95 | 63:86f8dfa007ac | 1065 | detected_ALC = true; |
carlosperales95 | 63:86f8dfa007ac | 1066 | } |
carlosperales95 | 63:86f8dfa007ac | 1067 | }else{ //DR goes ccw |
carlosperales95 | 63:86f8dfa007ac | 1068 | |
carlosperales95 | 63:86f8dfa007ac | 1069 | if(cont_train->get_position_number() == D5 && !cont_train->goes_cw()){ |
carlosperales95 | 63:86f8dfa007ac | 1070 | |
carlosperales95 | 63:86f8dfa007ac | 1071 | lcd.cls(); |
carlosperales95 | 68:9859a3ff9298 | 1072 | lcd.printf("ALC!!! STOP D4 SW3 CONT D5"); |
carlosperales95 | 63:86f8dfa007ac | 1073 | |
carlosperales95 | 68:9859a3ff9298 | 1074 | ALC_action(7, stop_train, cont_train ); |
carlosperales95 | 63:86f8dfa007ac | 1075 | //Train stops |
carlosperales95 | 63:86f8dfa007ac | 1076 | //When CONT is at D6 DR continues |
carlosperales95 | 68:9859a3ff9298 | 1077 | detected_ALC = true; |
carlosperales95 | 63:86f8dfa007ac | 1078 | } |
carlosperales95 | 63:86f8dfa007ac | 1079 | } |
carlosperales95 | 63:86f8dfa007ac | 1080 | |
carlosperales95 | 63:86f8dfa007ac | 1081 | }else if(stop_train->get_position_number() == D10){ |
carlosperales95 | 63:86f8dfa007ac | 1082 | |
carlosperales95 | 63:86f8dfa007ac | 1083 | if(stop_train->goes_cw()){ |
carlosperales95 | 63:86f8dfa007ac | 1084 | |
carlosperales95 | 64:be1015efd974 | 1085 | if(cont_train->get_position_number() == D9 && cont_train->goes_cw()){ |
carlosperales95 | 63:86f8dfa007ac | 1086 | |
carlosperales95 | 63:86f8dfa007ac | 1087 | lcd.cls(); |
carlosperales95 | 68:9859a3ff9298 | 1088 | lcd.printf("ALC!!! STOP D10 CONT D9"); |
carlosperales95 | 63:86f8dfa007ac | 1089 | |
carlosperales95 | 68:9859a3ff9298 | 1090 | ALC_action(8, stop_train, cont_train ); |
carlosperales95 | 63:86f8dfa007ac | 1091 | //D10 train stops |
carlosperales95 | 63:86f8dfa007ac | 1092 | //When CONT is at D8, D10 continues |
carlosperales95 | 68:9859a3ff9298 | 1093 | detected_ALC = true; |
carlosperales95 | 63:86f8dfa007ac | 1094 | } |
carlosperales95 | 63:86f8dfa007ac | 1095 | }else{ |
carlosperales95 | 63:86f8dfa007ac | 1096 | |
carlosperales95 | 64:be1015efd974 | 1097 | if(cont_train->get_position_number() == D11 && !cont_train->goes_cw()){ |
carlosperales95 | 63:86f8dfa007ac | 1098 | |
carlosperales95 | 63:86f8dfa007ac | 1099 | lcd.cls(); |
carlosperales95 | 68:9859a3ff9298 | 1100 | lcd.printf("ALC!!! STOP D10 CONT D11"); |
carlosperales95 | 63:86f8dfa007ac | 1101 | |
carlosperales95 | 68:9859a3ff9298 | 1102 | ALC_action(12, stop_train, cont_train ); |
carlosperales95 | 63:86f8dfa007ac | 1103 | //D10 train stops |
carlosperales95 | 63:86f8dfa007ac | 1104 | //When CONT is at D12, D10 continues |
carlosperales95 | 68:9859a3ff9298 | 1105 | detected_ALC = true; |
carlosperales95 | 63:86f8dfa007ac | 1106 | } |
carlosperales95 | 63:86f8dfa007ac | 1107 | } |
carlosperales95 | 63:86f8dfa007ac | 1108 | } |
carlosperales95 | 63:86f8dfa007ac | 1109 | |
carlosperales95 | 64:be1015efd974 | 1110 | return detected_ALC; |
carlosperales95 | 63:86f8dfa007ac | 1111 | } |
carlosperales95 | 64:be1015efd974 | 1112 | |
carlosperales95 | 64:be1015efd974 | 1113 | |
carlosperales95 | 63:86f8dfa007ac | 1114 | /** |
carlosperales95 | 63:86f8dfa007ac | 1115 | * |
carlosperales95 | 47:e992a129ef44 | 1116 | *The method check_position will check if any of the trains is in any of the areas. |
carlosperales95 | 47:e992a129ef44 | 1117 | *It will go through all the area vectors (A,B) and call the function in_vector to check inside the vectors. |
carlosperales95 | 45:d589318238bf | 1118 | * |
carlosperales95 | 45:d589318238bf | 1119 | **/ |
mglmx | 57:ee5da8a011e0 | 1120 | void check_position(){ |
mglmx | 57:ee5da8a011e0 | 1121 | |
mglmx | 57:ee5da8a011e0 | 1122 | if(check_NAC()){ |
mglmx | 66:45a90a945983 | 1123 | //lcd.cls(); |
mglmx | 66:45a90a945983 | 1124 | //lcd.printf("NAC!!!"); |
mglmx | 62:6fc0c683cb02 | 1125 | NAC_action(); |
mglmx | 62:6fc0c683cb02 | 1126 | } |
carlosperales95 | 68:9859a3ff9298 | 1127 | check_AFC(&DR_train,&LR_train); |
carlosperales95 | 68:9859a3ff9298 | 1128 | check_AFC(&LR_train,&DR_train); |
carlosperales95 | 68:9859a3ff9298 | 1129 | check_ALC(&LR_train,&DR_train); |
carlosperales95 | 68:9859a3ff9298 | 1130 | check_ALC(&DR_train,&LR_train); |
carlosperales95 | 68:9859a3ff9298 | 1131 | |
mglmx | 62:6fc0c683cb02 | 1132 | |
mglmx | 43:346a1f4144cd | 1133 | |
mglmx | 43:346a1f4144cd | 1134 | } |
mglmx | 43:346a1f4144cd | 1135 | |
carlosperales95 | 45:d589318238bf | 1136 | |
carlosperales95 | 45:d589318238bf | 1137 | /** |
carlosperales95 | 45:d589318238bf | 1138 | * |
carlosperales95 | 47:e992a129ef44 | 1139 | *Description |
carlosperales95 | 45:d589318238bf | 1140 | * |
carlosperales95 | 47:e992a129ef44 | 1141 | *@sensor - |
carlosperales95 | 45:d589318238bf | 1142 | * |
carlosperales95 | 45:d589318238bf | 1143 | **/ |
mglmx | 35:cfcfeccb959e | 1144 | void update_train_pos(int sensor){ |
mglmx | 62:6fc0c683cb02 | 1145 | led2 = 1; |
carlosperales95 | 65:8fd4046c6540 | 1146 | logger_add("UPDATE IT"); |
mglmx | 35:cfcfeccb959e | 1147 | bool found_DR = false; |
mglmx | 41:4fa6aa29d1ed | 1148 | bool found_LR = false; |
mglmx | 62:6fc0c683cb02 | 1149 | |
mglmx | 62:6fc0c683cb02 | 1150 | string DR_dir,LR_dir; |
mglmx | 49:880c0b9c9c64 | 1151 | |
mglmx | 49:880c0b9c9c64 | 1152 | if(DR_train.goes_cw()){ |
mglmx | 49:880c0b9c9c64 | 1153 | DR_dir = "cw"; |
mglmx | 49:880c0b9c9c64 | 1154 | }else{ |
mglmx | 49:880c0b9c9c64 | 1155 | DR_dir = "ccw"; |
mglmx | 49:880c0b9c9c64 | 1156 | } |
mglmx | 49:880c0b9c9c64 | 1157 | |
mglmx | 49:880c0b9c9c64 | 1158 | if(LR_train.goes_cw()){ |
mglmx | 49:880c0b9c9c64 | 1159 | LR_dir = "cw"; |
mglmx | 49:880c0b9c9c64 | 1160 | }else{ |
mglmx | 49:880c0b9c9c64 | 1161 | LR_dir = "ccw"; |
mglmx | 55:aa3baa01f43d | 1162 | } |
mglmx | 62:6fc0c683cb02 | 1163 | |
mglmx | 62:6fc0c683cb02 | 1164 | |
mglmx | 62:6fc0c683cb02 | 1165 | //wait(0.7); |
mglmx | 62:6fc0c683cb02 | 1166 | |
mglmx | 55:aa3baa01f43d | 1167 | if(sensor == DR_train.get_position_number() || sensor == LR_train.get_position_number()){ |
mglmx | 62:6fc0c683cb02 | 1168 | led2 = 0; |
mglmx | 62:6fc0c683cb02 | 1169 | }else{ |
carlosperales95 | 58:b60db1092088 | 1170 | |
mglmx | 62:6fc0c683cb02 | 1171 | //trains_posn_log(sensor); |
mglmx | 55:aa3baa01f43d | 1172 | |
mglmx | 55:aa3baa01f43d | 1173 | lcd.cls(); |
mglmx | 55:aa3baa01f43d | 1174 | lcd.printf("S:D%d DR%d(",sensor,DR_train.get_position_number()); |
mglmx | 55:aa3baa01f43d | 1175 | |
mglmx | 55:aa3baa01f43d | 1176 | //TODO: Do a for to print all next sensors. |
mglmx | 55:aa3baa01f43d | 1177 | for(int i=0; i<DR_train.get_next_sensors().size(); i++){ |
mglmx | 55:aa3baa01f43d | 1178 | |
mglmx | 55:aa3baa01f43d | 1179 | lcd.printf("%d,",DR_train.get_next_sensors()[i]); |
mglmx | 55:aa3baa01f43d | 1180 | } |
mglmx | 55:aa3baa01f43d | 1181 | |
mglmx | 55:aa3baa01f43d | 1182 | lcd.printf(")%s LR%d(",DR_dir,LR_train.get_position_number()); |
mglmx | 55:aa3baa01f43d | 1183 | |
mglmx | 55:aa3baa01f43d | 1184 | for(int i=0; i<LR_train.get_next_sensors().size(); i++){ |
mglmx | 55:aa3baa01f43d | 1185 | |
mglmx | 55:aa3baa01f43d | 1186 | lcd.printf("%d,",LR_train.get_next_sensors()[i]); |
mglmx | 55:aa3baa01f43d | 1187 | } |
mglmx | 55:aa3baa01f43d | 1188 | |
mglmx | 55:aa3baa01f43d | 1189 | lcd.printf(")%s",LR_dir); |
mglmx | 62:6fc0c683cb02 | 1190 | |
mglmx | 62:6fc0c683cb02 | 1191 | |
mglmx | 52:c08495446f87 | 1192 | //Checking next sensors for DR train |
mglmx | 55:aa3baa01f43d | 1193 | for(int i=0; i<DR_train.get_next_sensors().size(); i++){ |
mglmx | 55:aa3baa01f43d | 1194 | |
mglmx | 55:aa3baa01f43d | 1195 | if(DR_train.get_next_sensors()[i] == sensor){ //If the sensor is one expected to visit by the train we update the position |
carlosperales95 | 37:bb15bea420a3 | 1196 | |
mglmx | 55:aa3baa01f43d | 1197 | found_DR = true; |
mglmx | 55:aa3baa01f43d | 1198 | |
mglmx | 55:aa3baa01f43d | 1199 | |
mglmx | 55:aa3baa01f43d | 1200 | if(DR_train.goes_cw()){ |
mglmx | 55:aa3baa01f43d | 1201 | if(DR_train.get_position_number() == D5 || DR_train.get_position_number() == D11){ |
mglmx | 55:aa3baa01f43d | 1202 | |
mglmx | 55:aa3baa01f43d | 1203 | DR_train.set_goes_cw(false); //If train goes cw and passes D5 or D11 we change orientation |
mglmx | 55:aa3baa01f43d | 1204 | } |
mglmx | 55:aa3baa01f43d | 1205 | }else{ |
mglmx | 55:aa3baa01f43d | 1206 | |
mglmx | 55:aa3baa01f43d | 1207 | if(DR_train.get_position_number() == D9 || DR_train.get_position_number() == D3){ |
mglmx | 55:aa3baa01f43d | 1208 | |
mglmx | 55:aa3baa01f43d | 1209 | DR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation |
mglmx | 55:aa3baa01f43d | 1210 | } |
mglmx | 55:aa3baa01f43d | 1211 | } |
mglmx | 55:aa3baa01f43d | 1212 | |
mglmx | 55:aa3baa01f43d | 1213 | DR_train.set_position(sensor); |
mglmx | 55:aa3baa01f43d | 1214 | |
mglmx | 55:aa3baa01f43d | 1215 | } |
mglmx | 55:aa3baa01f43d | 1216 | } |
mglmx | 55:aa3baa01f43d | 1217 | |
mglmx | 55:aa3baa01f43d | 1218 | //Checking next sensors for LR train |
mglmx | 55:aa3baa01f43d | 1219 | for(int i=0; i<LR_train.get_next_sensors().size(); i++){ |
mglmx | 55:aa3baa01f43d | 1220 | |
mglmx | 55:aa3baa01f43d | 1221 | if(LR_train.get_next_sensors()[i] == sensor){ |
carlosperales95 | 45:d589318238bf | 1222 | |
mglmx | 55:aa3baa01f43d | 1223 | found_LR = true; |
mglmx | 55:aa3baa01f43d | 1224 | |
mglmx | 55:aa3baa01f43d | 1225 | if(LR_train.goes_cw()){ |
carlosperales95 | 45:d589318238bf | 1226 | |
mglmx | 55:aa3baa01f43d | 1227 | if(LR_train.get_position_number() == D5 || LR_train.get_position_number() == D11){ |
mglmx | 55:aa3baa01f43d | 1228 | LR_train.set_goes_cw(false); //If train goes cw and passes D5 or D11 we change orientation |
mglmx | 55:aa3baa01f43d | 1229 | } |
mglmx | 55:aa3baa01f43d | 1230 | }else{ |
mglmx | 55:aa3baa01f43d | 1231 | |
mglmx | 55:aa3baa01f43d | 1232 | if(LR_train.get_position_number() == D9 || LR_train.get_position_number() == D3 ){ |
mglmx | 55:aa3baa01f43d | 1233 | |
mglmx | 55:aa3baa01f43d | 1234 | LR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation |
mglmx | 55:aa3baa01f43d | 1235 | } |
mglmx | 41:4fa6aa29d1ed | 1236 | } |
mglmx | 55:aa3baa01f43d | 1237 | LR_train.set_position(sensor); |
mglmx | 55:aa3baa01f43d | 1238 | |
mglmx | 55:aa3baa01f43d | 1239 | } |
mglmx | 55:aa3baa01f43d | 1240 | } |
mglmx | 55:aa3baa01f43d | 1241 | /* |
mglmx | 55:aa3baa01f43d | 1242 | if(found_DR){ |
mglmx | 49:880c0b9c9c64 | 1243 | |
mglmx | 55:aa3baa01f43d | 1244 | //doBuzz(); |
mglmx | 55:aa3baa01f43d | 1245 | lcd.cls(); |
mglmx | 55:aa3baa01f43d | 1246 | lcd.printf("DR is at D%d",DR_train.get_position_number()); |
mglmx | 41:4fa6aa29d1ed | 1247 | } |
mglmx | 55:aa3baa01f43d | 1248 | |
mglmx | 55:aa3baa01f43d | 1249 | if(found_LR){ |
mglmx | 55:aa3baa01f43d | 1250 | |
mglmx | 55:aa3baa01f43d | 1251 | lcd.cls(); |
mglmx | 55:aa3baa01f43d | 1252 | lcd.printf("LR is at D%d",LR_train.get_position_number()); |
mglmx | 55:aa3baa01f43d | 1253 | } |
mglmx | 55:aa3baa01f43d | 1254 | |
mglmx | 55:aa3baa01f43d | 1255 | if(!found_DR && !found_LR){ |
mglmx | 55:aa3baa01f43d | 1256 | |
mglmx | 55:aa3baa01f43d | 1257 | lcd.cls(); |
mglmx | 55:aa3baa01f43d | 1258 | lcd.printf("No train before :("); |
mglmx | 55:aa3baa01f43d | 1259 | } |
mglmx | 55:aa3baa01f43d | 1260 | */ |
mglmx | 62:6fc0c683cb02 | 1261 | |
mglmx | 41:4fa6aa29d1ed | 1262 | } |
mglmx | 62:6fc0c683cb02 | 1263 | |
mglmx | 35:cfcfeccb959e | 1264 | } |
mglmx | 35:cfcfeccb959e | 1265 | |
carlosperales95 | 37:bb15bea420a3 | 1266 | |
mglmx | 34:c9ab2a987734 | 1267 | /** |
mglmx | 34:c9ab2a987734 | 1268 | * |
carlosperales95 | 25:a42a1ed4d8e9 | 1269 | *Method to catch interrupts 0 |
carlosperales95 | 25:a42a1ed4d8e9 | 1270 | * |
carlosperales95 | 24:1d71dd8778c4 | 1271 | **/ |
mglmx | 33:24ce12dec157 | 1272 | void on_int0_change(){ |
carlosperales95 | 25:a42a1ed4d8e9 | 1273 | |
mglmx | 33:24ce12dec157 | 1274 | wait_us(2000); |
mglmx | 33:24ce12dec157 | 1275 | int sensor_data = mcp->_read(INTCAPA); |
mglmx | 34:c9ab2a987734 | 1276 | int sensor = get_sensor(sensor_data,0); |
mglmx | 55:aa3baa01f43d | 1277 | //lcd.cls(); |
mglmx | 55:aa3baa01f43d | 1278 | //lcd.printf("int0 0x%x \n Sensor: %d",sensor_data,sensor); |
mglmx | 35:cfcfeccb959e | 1279 | update_train_pos(sensor); |
mglmx | 16:2a2da0e67793 | 1280 | } |
mglmx | 16:2a2da0e67793 | 1281 | |
mglmx | 35:cfcfeccb959e | 1282 | |
carlosperales95 | 24:1d71dd8778c4 | 1283 | /** |
carlosperales95 | 24:1d71dd8778c4 | 1284 | * |
carlosperales95 | 25:a42a1ed4d8e9 | 1285 | *Method to catch interrupts 1 |
carlosperales95 | 25:a42a1ed4d8e9 | 1286 | * |
carlosperales95 | 24:1d71dd8778c4 | 1287 | **/ |
mglmx | 33:24ce12dec157 | 1288 | void on_int1_change(){ |
carlosperales95 | 25:a42a1ed4d8e9 | 1289 | |
mglmx | 33:24ce12dec157 | 1290 | wait_us(2000); |
mglmx | 33:24ce12dec157 | 1291 | int sensor_data = mcp->_read(INTCAPB); |
mglmx | 34:c9ab2a987734 | 1292 | int sensor = get_sensor(sensor_data,1); |
mglmx | 55:aa3baa01f43d | 1293 | //lcd.cls(); |
mglmx | 55:aa3baa01f43d | 1294 | //lcd.printf("int1 0x%x \n Sensor: %d",sensor_data,sensor); |
carlosperales95 | 65:8fd4046c6540 | 1295 | |
mglmx | 35:cfcfeccb959e | 1296 | update_train_pos(sensor); |
mglmx | 16:2a2da0e67793 | 1297 | } |
mglmx | 26:5c966a0a3e8e | 1298 | |
carlosperales95 | 45:d589318238bf | 1299 | /** |
carlosperales95 | 45:d589318238bf | 1300 | * |
carlosperales95 | 47:e992a129ef44 | 1301 | *Clear current interrupts |
carlosperales95 | 45:d589318238bf | 1302 | * |
carlosperales95 | 45:d589318238bf | 1303 | **/ |
mglmx | 62:6fc0c683cb02 | 1304 | void init() { |
mglmx | 26:5c966a0a3e8e | 1305 | |
mglmx | 33:24ce12dec157 | 1306 | mcp->_read(GPIOA); |
mglmx | 33:24ce12dec157 | 1307 | mcp->_read(GPIOB); // Register callbacks |
mglmx | 33:24ce12dec157 | 1308 | int0.fall(&on_int0_change); |
mglmx | 33:24ce12dec157 | 1309 | int1.fall(&on_int1_change); // Enable interrupts on MCP |
mglmx | 33:24ce12dec157 | 1310 | mcp->_write(GPINTENA, (unsigned char )0xff); |
mglmx | 33:24ce12dec157 | 1311 | mcp->_write(GPINTENB, (unsigned char )0xff); // Ready to go! |
mglmx | 62:6fc0c683cb02 | 1312 | } |
mglmx | 62:6fc0c683cb02 | 1313 | |
carlosperales95 | 11:021210c59a95 | 1314 | |
carlosperales95 | 24:1d71dd8778c4 | 1315 | |
mglmx | 62:6fc0c683cb02 | 1316 | |
carlosperales95 | 11:021210c59a95 | 1317 | |
mglmx | 62:6fc0c683cb02 | 1318 | |
carlosperales95 | 24:1d71dd8778c4 | 1319 | /** |
carlosperales95 | 24:1d71dd8778c4 | 1320 | * |
carlosperales95 | 29:559eb2164488 | 1321 | *Checks if any of the switches of the box has been activated. |
carlosperales95 | 29:559eb2164488 | 1322 | *Calls necessary function and displays LCD text. |
carlosperales95 | 25:a42a1ed4d8e9 | 1323 | * |
carlosperales95 | 24:1d71dd8778c4 | 1324 | **/ |
mglmx | 21:e6f1649add39 | 1325 | void checkSwitch(){ |
carlosperales95 | 24:1d71dd8778c4 | 1326 | |
mglmx | 22:e4153ca757dd | 1327 | if(switch1 == 1){ |
carlosperales95 | 24:1d71dd8778c4 | 1328 | |
mglmx | 22:e4153ca757dd | 1329 | lcd.cls(); |
mglmx | 22:e4153ca757dd | 1330 | lcd.printf("Switch 1 ON - SW1"); |
mglmx | 55:aa3baa01f43d | 1331 | flip_switch(1,5); |
mglmx | 22:e4153ca757dd | 1332 | }else if(switch2 == 1){ |
carlosperales95 | 24:1d71dd8778c4 | 1333 | |
carlosperales95 | 24:1d71dd8778c4 | 1334 | lcd.cls(); |
carlosperales95 | 24:1d71dd8778c4 | 1335 | lcd.printf("Switch 2 ON - SW2"); |
mglmx | 55:aa3baa01f43d | 1336 | flip_switch(2,5); |
carlosperales95 | 24:1d71dd8778c4 | 1337 | }else if(switch3 == 0){ |
carlosperales95 | 24:1d71dd8778c4 | 1338 | |
carlosperales95 | 24:1d71dd8778c4 | 1339 | lcd.cls(); |
carlosperales95 | 24:1d71dd8778c4 | 1340 | lcd.printf("Switch 3 ON - SW3"); |
mglmx | 55:aa3baa01f43d | 1341 | flip_switch(3,5); |
carlosperales95 | 24:1d71dd8778c4 | 1342 | }else if(switch4 == 0){ |
carlosperales95 | 24:1d71dd8778c4 | 1343 | |
carlosperales95 | 24:1d71dd8778c4 | 1344 | lcd.cls(); |
carlosperales95 | 24:1d71dd8778c4 | 1345 | lcd.printf("Switch 4 ON - IDLE"); |
mglmx | 55:aa3baa01f43d | 1346 | flip_switch(0,5); |
carlosperales95 | 24:1d71dd8778c4 | 1347 | } |
mglmx | 22:e4153ca757dd | 1348 | } |
mglmx | 22:e4153ca757dd | 1349 | |
carlosperales95 | 45:d589318238bf | 1350 | |
carlosperales95 | 24:1d71dd8778c4 | 1351 | |
mglmx | 55:aa3baa01f43d | 1352 | |
mglmx | 55:aa3baa01f43d | 1353 | /** |
mglmx | 55:aa3baa01f43d | 1354 | * Returns a sensor number depending on how many times switch3 flips. |
mglmx | 55:aa3baa01f43d | 1355 | * When pressing switch4 it confirms the switch |
mglmx | 55:aa3baa01f43d | 1356 | * Init_sensor is the value where we start counting. |
mglmx | 55:aa3baa01f43d | 1357 | * string train is the name of the train that will be prited with the sensor |
mglmx | 55:aa3baa01f43d | 1358 | */ |
mglmx | 55:aa3baa01f43d | 1359 | int select_sensor(int init_sensor, string train){ |
mglmx | 55:aa3baa01f43d | 1360 | |
mglmx | 55:aa3baa01f43d | 1361 | lcd.cls(); |
mglmx | 57:ee5da8a011e0 | 1362 | lcd.printf("%s SENSOR D%d",train,init_sensor); |
mglmx | 55:aa3baa01f43d | 1363 | |
mglmx | 55:aa3baa01f43d | 1364 | int sensor = init_sensor; |
mglmx | 52:c08495446f87 | 1365 | bool changed = false; |
mglmx | 52:c08495446f87 | 1366 | bool exit = false; |
mglmx | 52:c08495446f87 | 1367 | |
mglmx | 52:c08495446f87 | 1368 | while(!exit){ |
mglmx | 52:c08495446f87 | 1369 | if(switch3 == 0){ |
mglmx | 52:c08495446f87 | 1370 | if(changed){ |
mglmx | 52:c08495446f87 | 1371 | sensor++; |
mglmx | 52:c08495446f87 | 1372 | sensor=sensor%15; //Only sensors from 0 to 15. |
mglmx | 52:c08495446f87 | 1373 | changed=false; |
mglmx | 55:aa3baa01f43d | 1374 | lcd.cls(); |
mglmx | 55:aa3baa01f43d | 1375 | lcd.printf("%s: D%d",train,sensor); |
mglmx | 52:c08495446f87 | 1376 | } |
mglmx | 62:6fc0c683cb02 | 1377 | |
carlosperales95 | 58:b60db1092088 | 1378 | }else{ |
mglmx | 52:c08495446f87 | 1379 | changed = true; |
mglmx | 55:aa3baa01f43d | 1380 | wait(0.2); |
mglmx | 52:c08495446f87 | 1381 | } |
mglmx | 52:c08495446f87 | 1382 | |
mglmx | 52:c08495446f87 | 1383 | if(switch4 == 0){ |
mglmx | 52:c08495446f87 | 1384 | exit = true; |
mglmx | 55:aa3baa01f43d | 1385 | wait(0.2); |
mglmx | 52:c08495446f87 | 1386 | } |
mglmx | 52:c08495446f87 | 1387 | } |
mglmx | 62:6fc0c683cb02 | 1388 | |
mglmx | 52:c08495446f87 | 1389 | return sensor; |
mglmx | 52:c08495446f87 | 1390 | } |
carlosperales95 | 45:d589318238bf | 1391 | |
mglmx | 55:aa3baa01f43d | 1392 | /** |
mglmx | 55:aa3baa01f43d | 1393 | * Returns a boolean representing the direction. Everytimew switch3 is 0 it changes the direction. |
mglmx | 55:aa3baa01f43d | 1394 | * When switch4 is 0 the selection is confirmed. |
mglmx | 55:aa3baa01f43d | 1395 | * Init_going_cw is the initial direction. |
mglmx | 55:aa3baa01f43d | 1396 | * Train is the string with the name of the train that will be printed next to the direction |
mglmx | 55:aa3baa01f43d | 1397 | */ |
mglmx | 55:aa3baa01f43d | 1398 | bool select_direction(bool init_going_cw,string train){ |
mglmx | 55:aa3baa01f43d | 1399 | |
mglmx | 57:ee5da8a011e0 | 1400 | string dir_string; |
mglmx | 57:ee5da8a011e0 | 1401 | |
mglmx | 57:ee5da8a011e0 | 1402 | if(init_going_cw){ |
mglmx | 57:ee5da8a011e0 | 1403 | dir_string = "cw"; |
mglmx | 57:ee5da8a011e0 | 1404 | }else{ |
mglmx | 57:ee5da8a011e0 | 1405 | dir_string = "ccw"; |
mglmx | 57:ee5da8a011e0 | 1406 | } |
mglmx | 57:ee5da8a011e0 | 1407 | |
mglmx | 55:aa3baa01f43d | 1408 | lcd.cls(); |
mglmx | 57:ee5da8a011e0 | 1409 | lcd.printf("%s DIRECTION %s ",train,dir_string); |
mglmx | 57:ee5da8a011e0 | 1410 | |
mglmx | 55:aa3baa01f43d | 1411 | bool exit = false; |
mglmx | 55:aa3baa01f43d | 1412 | bool going_cw = init_going_cw; |
mglmx | 55:aa3baa01f43d | 1413 | bool changed = false; |
mglmx | 55:aa3baa01f43d | 1414 | |
mglmx | 55:aa3baa01f43d | 1415 | while(!exit){ |
mglmx | 55:aa3baa01f43d | 1416 | if(switch3 == 0){ |
mglmx | 55:aa3baa01f43d | 1417 | if(changed){ |
mglmx | 55:aa3baa01f43d | 1418 | going_cw = !going_cw; |
mglmx | 55:aa3baa01f43d | 1419 | changed = false; |
mglmx | 55:aa3baa01f43d | 1420 | string dir; |
mglmx | 55:aa3baa01f43d | 1421 | if(going_cw){ |
mglmx | 55:aa3baa01f43d | 1422 | dir = "cw"; |
mglmx | 55:aa3baa01f43d | 1423 | }else{ |
mglmx | 55:aa3baa01f43d | 1424 | dir = "ccw"; |
mglmx | 55:aa3baa01f43d | 1425 | } |
mglmx | 55:aa3baa01f43d | 1426 | lcd.cls(); |
mglmx | 55:aa3baa01f43d | 1427 | lcd.printf("%s: %s",train,dir); |
mglmx | 55:aa3baa01f43d | 1428 | } |
mglmx | 55:aa3baa01f43d | 1429 | }else{ |
mglmx | 55:aa3baa01f43d | 1430 | changed = true; |
mglmx | 55:aa3baa01f43d | 1431 | wait(0.2); |
mglmx | 55:aa3baa01f43d | 1432 | } |
mglmx | 55:aa3baa01f43d | 1433 | |
mglmx | 55:aa3baa01f43d | 1434 | if(switch4 == 0){ |
mglmx | 55:aa3baa01f43d | 1435 | exit = true; |
mglmx | 55:aa3baa01f43d | 1436 | wait(0.2); |
mglmx | 55:aa3baa01f43d | 1437 | } |
mglmx | 55:aa3baa01f43d | 1438 | } |
mglmx | 62:6fc0c683cb02 | 1439 | |
mglmx | 55:aa3baa01f43d | 1440 | return going_cw; |
mglmx | 55:aa3baa01f43d | 1441 | } |
mglmx | 55:aa3baa01f43d | 1442 | |
carlosperales95 | 11:021210c59a95 | 1443 | //**************** MAIN PROGRAM FOR DENVER TRAIN ****************// |
carlosperales95 | 11:021210c59a95 | 1444 | |
carlosperales95 | 45:d589318238bf | 1445 | |
mglmx | 1:0ab26889af9b | 1446 | int main() |
mglmx | 1:0ab26889af9b | 1447 | { |
carlosperales95 | 25:a42a1ed4d8e9 | 1448 | //RISE FOR INTERRUPTS?? NOT WORKING ATM |
carlosperales95 | 25:a42a1ed4d8e9 | 1449 | //int0.rise(&interrupt0); |
carlosperales95 | 25:a42a1ed4d8e9 | 1450 | //int1.rise(&interrupt1); |
carlosperales95 | 25:a42a1ed4d8e9 | 1451 | |
carlosperales95 | 25:a42a1ed4d8e9 | 1452 | //Read and display potentiometer |
carlosperales95 | 25:a42a1ed4d8e9 | 1453 | //float f = pot.read(); |
carlosperales95 | 25:a42a1ed4d8e9 | 1454 | //float vin = f * 3.3; |
carlosperales95 | 25:a42a1ed4d8e9 | 1455 | //lcd.printf("vin: %.4f",vin); |
carlosperales95 | 25:a42a1ed4d8e9 | 1456 | |
carlosperales95 | 25:a42a1ed4d8e9 | 1457 | //0xFFFC //1111111111111100 |
carlosperales95 | 25:a42a1ed4d8e9 | 1458 | |
carlosperales95 | 56:fe999806787d | 1459 | enable = 0; |
carlosperales95 | 25:a42a1ed4d8e9 | 1460 | |
carlosperales95 | 25:a42a1ed4d8e9 | 1461 | //Led routine to start main program |
mglmx | 2:f580707c44fa | 1462 | led1 = 1; |
mglmx | 22:e4153ca757dd | 1463 | wait(0.2); |
mglmx | 2:f580707c44fa | 1464 | led1 = 0; |
mglmx | 22:e4153ca757dd | 1465 | wait(0.2); |
mglmx | 2:f580707c44fa | 1466 | led1 = 1; |
mglmx | 16:2a2da0e67793 | 1467 | |
mglmx | 55:aa3baa01f43d | 1468 | init_positions(); |
mglmx | 55:aa3baa01f43d | 1469 | |
carlosperales95 | 25:a42a1ed4d8e9 | 1470 | initialize_mcp(); //mcp initialization for interrupts before train running |
mglmx | 33:24ce12dec157 | 1471 | init(); |
mglmx | 57:ee5da8a011e0 | 1472 | |
mglmx | 55:aa3baa01f43d | 1473 | |
carlosperales95 | 68:9859a3ff9298 | 1474 | int DR_init_sensor = select_sensor(D6,"DR"); |
mglmx | 66:45a90a945983 | 1475 | bool DR_init_dir = select_direction(true,"DR"); |
mglmx | 55:aa3baa01f43d | 1476 | |
mglmx | 55:aa3baa01f43d | 1477 | wait(0.5); |
mglmx | 55:aa3baa01f43d | 1478 | |
carlosperales95 | 68:9859a3ff9298 | 1479 | int LR_init_sensor = select_sensor(D3,"LR"); |
carlosperales95 | 68:9859a3ff9298 | 1480 | bool LR_init_dir = select_direction(true,"LR"); |
mglmx | 55:aa3baa01f43d | 1481 | |
mglmx | 55:aa3baa01f43d | 1482 | DR_train.set_position(DR_init_sensor); |
mglmx | 55:aa3baa01f43d | 1483 | DR_train.set_goes_cw(DR_init_dir); |
mglmx | 55:aa3baa01f43d | 1484 | |
mglmx | 55:aa3baa01f43d | 1485 | LR_train.set_position(LR_init_sensor); |
mglmx | 55:aa3baa01f43d | 1486 | LR_train.set_goes_cw(LR_init_dir); |
mglmx | 55:aa3baa01f43d | 1487 | |
mglmx | 16:2a2da0e67793 | 1488 | |
mglmx | 55:aa3baa01f43d | 1489 | string DR_print_dir, LR_print_dir; |
mglmx | 55:aa3baa01f43d | 1490 | |
mglmx | 55:aa3baa01f43d | 1491 | if(DR_train.goes_cw()){ |
mglmx | 55:aa3baa01f43d | 1492 | DR_print_dir = "cw"; |
mglmx | 55:aa3baa01f43d | 1493 | }else{ |
mglmx | 55:aa3baa01f43d | 1494 | DR_print_dir = "ccw"; |
mglmx | 55:aa3baa01f43d | 1495 | } |
mglmx | 55:aa3baa01f43d | 1496 | |
mglmx | 55:aa3baa01f43d | 1497 | if(LR_train.goes_cw()){ |
mglmx | 55:aa3baa01f43d | 1498 | LR_print_dir = "cw"; |
mglmx | 55:aa3baa01f43d | 1499 | }else{ |
mglmx | 55:aa3baa01f43d | 1500 | LR_print_dir = "ccw"; |
mglmx | 55:aa3baa01f43d | 1501 | } |
mglmx | 55:aa3baa01f43d | 1502 | |
mglmx | 55:aa3baa01f43d | 1503 | lcd.cls(); |
mglmx | 55:aa3baa01f43d | 1504 | lcd.printf("DR(%d)%s \n LR(%d)%s",DR_train.get_position_number(),DR_print_dir,LR_train.get_position_number(),LR_print_dir); |
mglmx | 55:aa3baa01f43d | 1505 | |
mglmx | 55:aa3baa01f43d | 1506 | wait(2); |
mglmx | 55:aa3baa01f43d | 1507 | |
mglmx | 43:346a1f4144cd | 1508 | |
carlosperales95 | 25:a42a1ed4d8e9 | 1509 | //Train light routine to start running |
mglmx | 43:346a1f4144cd | 1510 | /* |
mglmx | 32:e5b732fb8e65 | 1511 | DCC_send_command(DCCaddressDR,DCC_func_lighton,200); // turn light on full |
mglmx | 52:c08495446f87 | 1512 | DCC_send_command(DCCaddressDR,DCC_func_dimlight,400); // dim light |
mglmx | 52:c08495446f87 | 1513 | DCC_send_command(DCCaddressDR,DCC_func_lighton,200); // light full again |
mglmx | 43:346a1f4144cd | 1514 | */ |
mglmx | 57:ee5da8a011e0 | 1515 | |
mglmx | 57:ee5da8a011e0 | 1516 | |
mglmx | 57:ee5da8a011e0 | 1517 | |
carlosperales95 | 25:a42a1ed4d8e9 | 1518 | //LED3 Shows start of route + LCD notif |
mglmx | 22:e4153ca757dd | 1519 | led3 = 1; // Entering the while |
mglmx | 22:e4153ca757dd | 1520 | lcd.cls(); |
mglmx | 22:e4153ca757dd | 1521 | lcd.printf("Ready to start"); |
mglmx | 55:aa3baa01f43d | 1522 | wait(1); |
carlosperales95 | 19:ff21ba3a4dc5 | 1523 | |
carlosperales95 | 65:8fd4046c6540 | 1524 | init_logger(); |
carlosperales95 | 65:8fd4046c6540 | 1525 | train_pos0_log(); |
carlosperales95 | 65:8fd4046c6540 | 1526 | logger_add("There we go lads this is the start of the program"); |
mglmx | 62:6fc0c683cb02 | 1527 | |
carlosperales95 | 56:fe999806787d | 1528 | enable = 1; |
carlosperales95 | 56:fe999806787d | 1529 | |
mglmx | 66:45a90a945983 | 1530 | /* |
mglmx | 66:45a90a945983 | 1531 | flip_switch(5,15);//Send IDLE command at the beginning |
mglmx | 66:45a90a945983 | 1532 | flip_switch(1,40); |
mglmx | 66:45a90a945983 | 1533 | wait(0.5); |
mglmx | 66:45a90a945983 | 1534 | flip_switch(5,15); |
mglmx | 66:45a90a945983 | 1535 | flip_switch(2,15); |
mglmx | 66:45a90a945983 | 1536 | wait(0.5); |
mglmx | 66:45a90a945983 | 1537 | flip_switch(5,15); |
mglmx | 66:45a90a945983 | 1538 | flip_switch(3,40); |
mglmx | 66:45a90a945983 | 1539 | wait(0.5); |
mglmx | 66:45a90a945983 | 1540 | flip_switch(5,15); |
mglmx | 66:45a90a945983 | 1541 | flip_switch(4,15); |
mglmx | 66:45a90a945983 | 1542 | wait(0.5); |
mglmx | 66:45a90a945983 | 1543 | flip_switch(5,15); |
mglmx | 66:45a90a945983 | 1544 | */ |
mglmx | 66:45a90a945983 | 1545 | |
mglmx | 62:6fc0c683cb02 | 1546 | |
carlosperales95 | 14:7bb998edd819 | 1547 | //Demo for stopping at the station |
mglmx | 1:0ab26889af9b | 1548 | while(1) { |
mglmx | 4:50879dfb82d5 | 1549 | |
mglmx | 55:aa3baa01f43d | 1550 | checkSwitch(); //Checks for switch commands everytime. |
mglmx | 55:aa3baa01f43d | 1551 | check_position(); |
carlosperales95 | 25:a42a1ed4d8e9 | 1552 | |
mglmx | 33:24ce12dec157 | 1553 | if(1==0){ |
mglmx | 33:24ce12dec157 | 1554 | //if(station == 1){ //If train is on the sensor at the middle of the station it stops and displays LCD text. |
carlosperales95 | 14:7bb998edd819 | 1555 | |
mglmx | 4:50879dfb82d5 | 1556 | lcd.cls(); |
carlosperales95 | 29:559eb2164488 | 1557 | lcd.printf("All aboard\n mind the gap"); |
mglmx | 32:e5b732fb8e65 | 1558 | DCC_send_command(DCCaddressDR,DCCinst_stop,400); |
carlosperales95 | 29:559eb2164488 | 1559 | lcd.cls(); |
mglmx | 4:50879dfb82d5 | 1560 | |
mglmx | 22:e4153ca757dd | 1561 | }else{ |
mglmx | 57:ee5da8a011e0 | 1562 | DR_train.run(); |
mglmx | 57:ee5da8a011e0 | 1563 | LR_train.run(); |
mglmx | 55:aa3baa01f43d | 1564 | |
carlosperales95 | 25:a42a1ed4d8e9 | 1565 | } |
mglmx | 1:0ab26889af9b | 1566 | } |
mglmx | 3:fe7010b693a0 | 1567 | } |