Denver / Mbed 2 deprecated denver_train_proj

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Dependencies:   mbed TextLCD

main.cpp@64:be1015efd974, 2018-06-25 (annotated)

Committer:
carlosperales95
Date:
Mon Jun 25 11:19:51 2018 +0000
Revision:
64:be1015efd974
Parent:
63:86f8dfa007ac
Child:
65:8fd4046c6540
ALC action push

Who changed what in which revision?

UserRevisionLine numberNew 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
mglmx 62:6fc0c683cb02 12
mglmx 62:6fc0c683cb02 13 LocalFileSystem local("local");
mglmx 1:0ab26889af9b 14
carlosperales95 7:e2b8461d4f05 15 /******PINS AND DECLARATIONS*******/
carlosperales95 7:e2b8461d4f05 16
carlosperales95 25:a42a1ed4d8e9 17 //------PINS
mglmx 21:e6f1649add39 18
mglmx 21:e6f1649add39 19 //SWITCHES p5 - p8
mglmx 21:e6f1649add39 20 DigitalIn switch1(p5);
mglmx 21:e6f1649add39 21 DigitalIn switch2(p6);
mglmx 21:e6f1649add39 22 DigitalIn switch3(p7);
mglmx 21:e6f1649add39 23 DigitalIn switch4(p8);
carlosperales95 7:e2b8461d4f05 24
carlosperales95 10:2088b1935a93 25 //RAIL SENSORS - INT0,INT1
carlosperales95 7:e2b8461d4f05 26 //INT0 - p9
mglmx 18:aa43bb62e60f 27 InterruptIn int0(p9);
carlosperales95 7:e2b8461d4f05 28 //INT1 - p10
mglmx 18:aa43bb62e60f 29 InterruptIn int1(p10);
carlosperales95 7:e2b8461d4f05 30
carlosperales95 7:e2b8461d4f05 31 ///p11
carlosperales95 7:e2b8461d4f05 32 ///p12
carlosperales95 12:e914ca5cd44b 33
carlosperales95 7:e2b8461d4f05 34 //M0 - p13
mglmx 35:cfcfeccb959e 35 DigitalIn d21stat(p13); //Sensor right of the station
carlosperales95 7:e2b8461d4f05 36 //M1 - p14
mglmx 35:cfcfeccb959e 37 DigitalIn d22stat(p14); //Sensor left of the station
carlosperales95 7:e2b8461d4f05 38 //M2 - p15
carlosperales95 29:559eb2164488 39 DigitalIn station(p15); //Sensor in the middle of the station
carlosperales95 12:e914ca5cd44b 40
carlosperales95 7:e2b8461d4f05 41 //p16
carlosperales95 50:ee4398ee44be 42 //ENABLE - p17
carlosperales95 50:ee4398ee44be 43 DigitalOut enable(p17);
carlosperales95 12:e914ca5cd44b 44
carlosperales95 11:021210c59a95 45 //BUZZER - p18
carlosperales95 11:021210c59a95 46 DigitalOut buzz(p18); // buzz=0 doesn't beep, buzz=1 beeps
carlosperales95 7:e2b8461d4f05 47
carlosperales95 7:e2b8461d4f05 48 //POTENTIOMETER - p19
carlosperales95 13:dbf1ead12cee 49 AnalogIn pot(p19); //Gives float value pot.read(). Convert analog input to V with f*3.3
carlosperales95 7:e2b8461d4f05 50
carlosperales95 7:e2b8461d4f05 51 //DAT - p20
mglmx 3:fe7010b693a0 52 DigitalOut Track(p20); //Digital output bit used to drive track power via H-bridge
carlosperales95 7:e2b8461d4f05 53
carlosperales95 7:e2b8461d4f05 54 //LCD SCREEN - p21, p22, p23, p24, p25, p26
carlosperales95 11:021210c59a95 55 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 56
carlosperales95 7:e2b8461d4f05 57 ///p27
mglmx 62:6fc0c683cb02 58 ///p28
mglmx 33:24ce12dec157 59 I2C i2c(p28,p27);
carlosperales95 7:e2b8461d4f05 60
carlosperales95 7:e2b8461d4f05 61 //LED1 - p29
mglmx 3:fe7010b693a0 62 DigitalOut redled(p29);
carlosperales95 7:e2b8461d4f05 63 //LED2 - p30
mglmx 3:fe7010b693a0 64 DigitalOut greenled(p30);
carlosperales95 7:e2b8461d4f05 65
carlosperales95 24:1d71dd8778c4 66 //MBED LEDS
mglmx 18:aa43bb62e60f 67 DigitalOut led1(LED1);
mglmx 18:aa43bb62e60f 68 DigitalOut led2(LED2);
mglmx 18:aa43bb62e60f 69 DigitalOut led3(LED3);
mglmx 16:2a2da0e67793 70
mglmx 16:2a2da0e67793 71 //MCP
mglmx 16:2a2da0e67793 72 MCP23017 *mcp;
carlosperales95 12:e914ca5cd44b 73
carlosperales95 24:1d71dd8778c4 74
carlosperales95 25:a42a1ed4d8e9 75 //------GLOBAL VARS
carlosperales95 25:a42a1ed4d8e9 76
carlosperales95 38:b9aba3715682 77 //......SENSOR POSITION VARS
carlosperales95 38:b9aba3715682 78
carlosperales95 45:d589318238bf 79 //Definition of D sensors, will be interpreted as ints for the program's logic
mglmx 34:c9ab2a987734 80 #define D0 0
mglmx 34:c9ab2a987734 81 #define D1 1
mglmx 34:c9ab2a987734 82 #define D2 2
mglmx 34:c9ab2a987734 83 #define D3 3
mglmx 34:c9ab2a987734 84 #define D4 4
mglmx 34:c9ab2a987734 85 #define D5 5
mglmx 34:c9ab2a987734 86 #define D6 6
mglmx 34:c9ab2a987734 87 #define D7 7
mglmx 34:c9ab2a987734 88 #define D8 8
mglmx 34:c9ab2a987734 89 #define D9 9
mglmx 34:c9ab2a987734 90 #define D10 10
mglmx 34:c9ab2a987734 91 #define D11 11
mglmx 34:c9ab2a987734 92 #define D12 12
mglmx 34:c9ab2a987734 93 #define D13 13
mglmx 34:c9ab2a987734 94 #define D21 14
mglmx 34:c9ab2a987734 95 #define D22 15
mglmx 34:c9ab2a987734 96
mglmx 62:6fc0c683cb02 97
mglmx 57:ee5da8a011e0 98 #define STOP 0
mglmx 57:ee5da8a011e0 99 #define SLOW 1
mglmx 57:ee5da8a011e0 100 #define MEDIUM 2
mglmx 57:ee5da8a011e0 101 #define FAST 3
mglmx 57:ee5da8a011e0 102 #define FULL 4
mglmx 57:ee5da8a011e0 103 #define R_MEDIUM 5
mglmx 55:aa3baa01f43d 104
mglmx 55:aa3baa01f43d 105
mglmx 62:6fc0c683cb02 106
carlosperales95 38:b9aba3715682 107 /**
carlosperales95 38:b9aba3715682 108 *
carlosperales95 38:b9aba3715682 109 *Position class.
carlosperales95 38:b9aba3715682 110 *
carlosperales95 38:b9aba3715682 111 *@position -
carlosperales95 38:b9aba3715682 112 *@previous_cw -
carlosperales95 38:b9aba3715682 113 *@previous_ccw -
carlosperales95 38:b9aba3715682 114 *
carlosperales95 38:b9aba3715682 115 *Position(int) -
carlosperales95 38:b9aba3715682 116 *
carlosperales95 38:b9aba3715682 117 *get_pos() -
carlosperales95 38:b9aba3715682 118 *get_prev_cw() -
mglmx 62:6fc0c683cb02 119 *get_ccw() -
carlosperales95 38:b9aba3715682 120 *add_prev_cw() -
mglmx 62:6fc0c683cb02 121 *add_ccw() -
carlosperales95 38:b9aba3715682 122 *
carlosperales95 38:b9aba3715682 123 **/
mglmx 35:cfcfeccb959e 124 class Position{
mglmx 35:cfcfeccb959e 125 private:
mglmx 35:cfcfeccb959e 126 int position;
mglmx 35:cfcfeccb959e 127 vector <int> previous_cw;
mglmx 35:cfcfeccb959e 128 vector <int> previous_ccw;
mglmx 35:cfcfeccb959e 129 public:
mglmx 35:cfcfeccb959e 130 Position(int p){
mglmx 35:cfcfeccb959e 131 position = p;
mglmx 35:cfcfeccb959e 132 }
mglmx 36:9428c72bdd58 133
mglmx 36:9428c72bdd58 134 int get_pos(){
mglmx 36:9428c72bdd58 135 return position;
mglmx 36:9428c72bdd58 136 }
mglmx 41:4fa6aa29d1ed 137
mglmx 41:4fa6aa29d1ed 138 vector<int> get_next_cw(){
mglmx 41:4fa6aa29d1ed 139 return previous_ccw;
mglmx 41:4fa6aa29d1ed 140 }
mglmx 41:4fa6aa29d1ed 141
mglmx 41:4fa6aa29d1ed 142 vector<int> get_next_ccw(){
mglmx 41:4fa6aa29d1ed 143 return previous_cw;
mglmx 41:4fa6aa29d1ed 144 }
carlosperales95 25:a42a1ed4d8e9 145
mglmx 35:cfcfeccb959e 146 vector <int> get_prev_cw(){
mglmx 35:cfcfeccb959e 147 return previous_cw;
mglmx 35:cfcfeccb959e 148 }
mglmx 35:cfcfeccb959e 149
mglmx 35:cfcfeccb959e 150 vector <int> get_prev_ccw(){
mglmx 35:cfcfeccb959e 151 return previous_ccw;
mglmx 35:cfcfeccb959e 152 }
mglmx 35:cfcfeccb959e 153
mglmx 35:cfcfeccb959e 154 void add_prev_cw(int pos){
mglmx 35:cfcfeccb959e 155 previous_cw.push_back(pos);
mglmx 35:cfcfeccb959e 156 };
mglmx 35:cfcfeccb959e 157
mglmx 35:cfcfeccb959e 158 void add_prev_ccw(int pos){
mglmx 35:cfcfeccb959e 159 previous_ccw.push_back(pos);
mglmx 35:cfcfeccb959e 160 };
mglmx 35:cfcfeccb959e 161 };
mglmx 35:cfcfeccb959e 162
carlosperales95 45:d589318238bf 163
mglmx 41:4fa6aa29d1ed 164 //Creating a vector with all the positions.
mglmx 41:4fa6aa29d1ed 165 vector<Position> positions;
mglmx 41:4fa6aa29d1ed 166
carlosperales95 45:d589318238bf 167
carlosperales95 45:d589318238bf 168 /**
carlosperales95 45:d589318238bf 169 *
mglmx 57:ee5da8a011e0 170 *Method to send DCC commands to train and switches.
mglmx 57:ee5da8a011e0 171 *
mglmx 57:ee5da8a011e0 172 *@address - (HEX)Address where the commands will be sent
mglmx 57:ee5da8a011e0 173 *@inst - (HEX)Number of instruction that will be commanded
mglmx 57:ee5da8a011e0 174 *@repeat_count - Number of times the command will be sent
mglmx 57:ee5da8a011e0 175 *
mglmx 57:ee5da8a011e0 176 **/
mglmx 57:ee5da8a011e0 177 void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count){
mglmx 57:ee5da8a011e0 178
mglmx 57:ee5da8a011e0 179 unsigned __int64 command = 0x0000000000000000; // __int64 is the 64-bit integer type
mglmx 57:ee5da8a011e0 180 unsigned __int64 temp_command = 0x0000000000000000;
mglmx 57:ee5da8a011e0 181 unsigned __int64 prefix = 0x3FFF; // 14 "1" bits needed at start
mglmx 57:ee5da8a011e0 182 unsigned int error = 0x00; //error byte
mglmx 57:ee5da8a011e0 183
mglmx 57:ee5da8a011e0 184 //calculate error detection byte with xor
mglmx 57:ee5da8a011e0 185 error = address ^ inst;
mglmx 57:ee5da8a011e0 186
mglmx 57:ee5da8a011e0 187 //combine packet bits in basic DCC format
mglmx 57:ee5da8a011e0 188 command = (prefix<<28)|(address<<19)|(inst<<10)|((error)<<1)|0x01;
mglmx 57:ee5da8a011e0 189 //printf("\n\r %llx \n\r",command);
mglmx 57:ee5da8a011e0 190
mglmx 57:ee5da8a011e0 191 int i=0;
mglmx 57:ee5da8a011e0 192 //repeat DCC command lots of times
mglmx 57:ee5da8a011e0 193 while(i < repeat_count) {
mglmx 57:ee5da8a011e0 194
mglmx 57:ee5da8a011e0 195 temp_command = command;
mglmx 57:ee5da8a011e0 196 //loops through packet bits encoding and sending out digital pulses for a DCC command
mglmx 57:ee5da8a011e0 197 for (int j=0; j<64; j++) {
mglmx 57:ee5da8a011e0 198
mglmx 57:ee5da8a011e0 199 if((temp_command&0x8000000000000000)==0) {
mglmx 57:ee5da8a011e0 200 //test packet bit
mglmx 57:ee5da8a011e0 201 //send data for a "0" bit
mglmx 57:ee5da8a011e0 202 Track=0;
mglmx 57:ee5da8a011e0 203 wait_us(100);
mglmx 57:ee5da8a011e0 204 Track=1;
mglmx 57:ee5da8a011e0 205 wait_us(100);
mglmx 57:ee5da8a011e0 206 //printf("0011");
mglmx 57:ee5da8a011e0 207 }else{
mglmx 57:ee5da8a011e0 208
mglmx 57:ee5da8a011e0 209 //send data for a "1"bit
mglmx 57:ee5da8a011e0 210 Track=0;
mglmx 57:ee5da8a011e0 211 wait_us(58);
mglmx 57:ee5da8a011e0 212 Track=1;
mglmx 57:ee5da8a011e0 213 wait_us(58);
mglmx 57:ee5da8a011e0 214 //printf("01");
mglmx 57:ee5da8a011e0 215 }
mglmx 57:ee5da8a011e0 216 // next bit in packet
mglmx 57:ee5da8a011e0 217 temp_command = temp_command<<1;
mglmx 57:ee5da8a011e0 218 }
mglmx 57:ee5da8a011e0 219 i++;
mglmx 57:ee5da8a011e0 220 }
mglmx 57:ee5da8a011e0 221 }
mglmx 57:ee5da8a011e0 222
mglmx 57:ee5da8a011e0 223 /**
mglmx 57:ee5da8a011e0 224 *Defining areas for train detection and collision logic.
mglmx 57:ee5da8a011e0 225 *area_A_arr/area_B_arr - Arrays that hold the Dsensors for each area, used to initialize the vectors.
mglmx 57:ee5da8a011e0 226 *area_A/area_B - Vectors that hold the different sensors of the corresponding areas of the track.
mglmx 57:ee5da8a011e0 227 **/
mglmx 57:ee5da8a011e0 228 int area_A_arr[] = {D21,D2,D22,D1,D0,D13,D12};
mglmx 57:ee5da8a011e0 229 int area_B_arr[] = {D6,D7,D8};
mglmx 57:ee5da8a011e0 230
mglmx 57:ee5da8a011e0 231 const vector<int> area_A(area_A_arr,area_A_arr + sizeof(area_A_arr) / sizeof(int));
mglmx 57:ee5da8a011e0 232 const vector<int> area_B(area_B_arr,area_B_arr + sizeof(area_B_arr) / sizeof(int));
mglmx 57:ee5da8a011e0 233
mglmx 57:ee5da8a011e0 234
mglmx 62:6fc0c683cb02 235
mglmx 57:ee5da8a011e0 236 /**
mglmx 57:ee5da8a011e0 237 *
carlosperales95 45:d589318238bf 238 *Train class.
carlosperales95 45:d589318238bf 239 *
carlosperales95 45:d589318238bf 240 *@position -
carlosperales95 45:d589318238bf 241 *@going_cw -
carlosperales95 45:d589318238bf 242 *
carlosperales95 45:d589318238bf 243 *Train(int, bool) -
mglmx 62:6fc0c683cb02 244 *Train(bool) -
carlosperales95 58:b60db1092088 245 *
mglmx 62:6fc0c683cb02 246 *Vector get_next_sensors() -
carlosperales95 58:b60db1092088 247 *set_position(int) -
carlosperales95 58:b60db1092088 248 *set_goes_cw(bool) -
carlosperales95 45:d589318238bf 249 *Position get_position() -
carlosperales95 45:d589318238bf 250 *Int get_position_number() -
carlosperales95 45:d589318238bf 251 *Bool goes_cw() -
carlosperales95 45:d589318238bf 252 *
carlosperales95 45:d589318238bf 253 **/
mglmx 41:4fa6aa29d1ed 254 class Train{
carlosperales95 45:d589318238bf 255
mglmx 62:6fc0c683cb02 256 private:
mglmx 62:6fc0c683cb02 257
mglmx 57:ee5da8a011e0 258 unsigned int train_address; //stop the train
mglmx 41:4fa6aa29d1ed 259 Position *position;
mglmx 41:4fa6aa29d1ed 260 bool going_cw;
mglmx 57:ee5da8a011e0 261 int speed;
carlosperales95 45:d589318238bf 262
mglmx 41:4fa6aa29d1ed 263 public:
mglmx 41:4fa6aa29d1ed 264 Train(int pos, bool cw){
carlosperales95 45:d589318238bf 265
mglmx 41:4fa6aa29d1ed 266 position = &positions[pos];
mglmx 41:4fa6aa29d1ed 267 going_cw = cw;
mglmx 41:4fa6aa29d1ed 268 }
carlosperales95 45:d589318238bf 269
mglmx 57:ee5da8a011e0 270 /**
mglmx 62:6fc0c683cb02 271 * Contructor that takes the address of the train and the speed with default value MEDIUM.
mglmx 62:6fc0c683cb02 272 */
mglmx 62:6fc0c683cb02 273 Train(unsigned int address, int s=MEDIUM){
mglmx 57:ee5da8a011e0 274 train_address = address;
mglmx 57:ee5da8a011e0 275 speed = s;
mglmx 57:ee5da8a011e0 276 }
mglmx 62:6fc0c683cb02 277
mglmx 62:6fc0c683cb02 278 Train(bool cw){ going_cw = cw; }
mglmx 62:6fc0c683cb02 279
mglmx 41:4fa6aa29d1ed 280 vector<int> get_next_sensors(){
mglmx 41:4fa6aa29d1ed 281
mglmx 41:4fa6aa29d1ed 282 //Checking direction
mglmx 62:6fc0c683cb02 283 if(going_cw){
mglmx 62:6fc0c683cb02 284
mglmx 62:6fc0c683cb02 285 return position->get_next_cw();
mglmx 62:6fc0c683cb02 286 }else{
mglmx 62:6fc0c683cb02 287
mglmx 62:6fc0c683cb02 288 return position->get_next_ccw();
mglmx 62:6fc0c683cb02 289 }
mglmx 41:4fa6aa29d1ed 290 }
mglmx 41:4fa6aa29d1ed 291
mglmx 57:ee5da8a011e0 292 void set_speed(int s){
mglmx 57:ee5da8a011e0 293 speed = s;
mglmx 57:ee5da8a011e0 294 }
mglmx 57:ee5da8a011e0 295
mglmx 57:ee5da8a011e0 296 /**
mglmx 57:ee5da8a011e0 297 * Sends a DCC command to the train with the speed indicaed by the attribute speed
mglmx 57:ee5da8a011e0 298 * The number of times the command is sent can be indicated as an optional parameter. Default value is 1.
mglmx 57:ee5da8a011e0 299 */
mglmx 62:6fc0c683cb02 300 void run(int times=1){
mglmx 57:ee5da8a011e0 301
mglmx 57:ee5da8a011e0 302 const unsigned int DCCinst_forward_slow = 0x66; //forward slow speed (step 9)
mglmx 57:ee5da8a011e0 303 const unsigned int DCCinst_forward_medium = 0x68; //forward half speed
mglmx 57:ee5da8a011e0 304 const unsigned int DCCinst_forward_fast = 0x6C; //Forward fast speed (step 22)
mglmx 57:ee5da8a011e0 305 const unsigned int DCCinst_forward_full = 0x6F; //Forward full speed
mglmx 57:ee5da8a011e0 306 const unsigned int DCCinst_reverse_medium = 0x48; //reverse half speed
mglmx 57:ee5da8a011e0 307 const unsigned int DCCinst_stop = 0x50; //stop the train
mglmx 57:ee5da8a011e0 308
mglmx 57:ee5da8a011e0 309 switch(speed){
mglmx 62:6fc0c683cb02 310 case STOP:
mglmx 57:ee5da8a011e0 311 DCC_send_command(train_address, DCCinst_stop,times);
mglmx 57:ee5da8a011e0 312 break;
mglmx 57:ee5da8a011e0 313 case SLOW:
mglmx 57:ee5da8a011e0 314 DCC_send_command(train_address, DCCinst_forward_slow,times);
mglmx 57:ee5da8a011e0 315 break;
mglmx 57:ee5da8a011e0 316 case MEDIUM:
mglmx 57:ee5da8a011e0 317 DCC_send_command(train_address, DCCinst_forward_medium,times);
mglmx 57:ee5da8a011e0 318 break;
mglmx 57:ee5da8a011e0 319 case FAST:
mglmx 57:ee5da8a011e0 320 DCC_send_command(train_address, DCCinst_forward_fast,times);
mglmx 57:ee5da8a011e0 321 break;
mglmx 57:ee5da8a011e0 322 case FULL:
mglmx 57:ee5da8a011e0 323 DCC_send_command(train_address, DCCinst_forward_full,times);
mglmx 57:ee5da8a011e0 324 break;
mglmx 57:ee5da8a011e0 325 case R_MEDIUM:
mglmx 57:ee5da8a011e0 326 DCC_send_command(train_address, DCCinst_reverse_medium,times);
mglmx 57:ee5da8a011e0 327 break;
mglmx 57:ee5da8a011e0 328 }
mglmx 57:ee5da8a011e0 329 }
mglmx 57:ee5da8a011e0 330
mglmx 41:4fa6aa29d1ed 331 void set_position(int pos){
carlosperales95 45:d589318238bf 332
mglmx 41:4fa6aa29d1ed 333 position = &positions[pos]; //Taking the new position from the positions vector
mglmx 41:4fa6aa29d1ed 334 }
mglmx 41:4fa6aa29d1ed 335
mglmx 41:4fa6aa29d1ed 336 void set_goes_cw(bool cw){
carlosperales95 45:d589318238bf 337
mglmx 41:4fa6aa29d1ed 338 going_cw = cw;
mglmx 41:4fa6aa29d1ed 339 }
mglmx 41:4fa6aa29d1ed 340
mglmx 41:4fa6aa29d1ed 341 Position get_position(){
carlosperales95 45:d589318238bf 342
mglmx 41:4fa6aa29d1ed 343 return *position;
mglmx 41:4fa6aa29d1ed 344 }
mglmx 41:4fa6aa29d1ed 345
mglmx 41:4fa6aa29d1ed 346 int get_position_number(){
carlosperales95 45:d589318238bf 347
mglmx 41:4fa6aa29d1ed 348 return position->get_pos();
mglmx 41:4fa6aa29d1ed 349 }
mglmx 41:4fa6aa29d1ed 350
mglmx 41:4fa6aa29d1ed 351 bool goes_cw(){
carlosperales95 45:d589318238bf 352
mglmx 41:4fa6aa29d1ed 353 return going_cw;
mglmx 41:4fa6aa29d1ed 354 }
mglmx 57:ee5da8a011e0 355
mglmx 62:6fc0c683cb02 356
mglmx 57:ee5da8a011e0 357 /**
mglmx 57:ee5da8a011e0 358 *
mglmx 57:ee5da8a011e0 359 *Checks if the element exists within the vector.
mglmx 57:ee5da8a011e0 360 *
mglmx 57:ee5da8a011e0 361 *@v - The vector (of ints) the method will go through.
mglmx 57:ee5da8a011e0 362 *@element - The element the method will look for.
mglmx 57:ee5da8a011e0 363 *
mglmx 57:ee5da8a011e0 364 **/
mglmx 57:ee5da8a011e0 365 bool in_vector(vector<int>v,int element){
mglmx 57:ee5da8a011e0 366
mglmx 57:ee5da8a011e0 367 bool exist = false;
mglmx 57:ee5da8a011e0 368
mglmx 57:ee5da8a011e0 369 for(int i=0; i< v.size(); i++){
mglmx 57:ee5da8a011e0 370
mglmx 57:ee5da8a011e0 371 if(v[i] == element){
mglmx 57:ee5da8a011e0 372
mglmx 57:ee5da8a011e0 373 exist = true;
mglmx 57:ee5da8a011e0 374 }
mglmx 57:ee5da8a011e0 375 }
mglmx 57:ee5da8a011e0 376 return exist;
mglmx 57:ee5da8a011e0 377 }
mglmx 57:ee5da8a011e0 378
mglmx 57:ee5da8a011e0 379 bool is_in_A(){
mglmx 62:6fc0c683cb02 380 return in_vector(area_A,get_position_number());
mglmx 57:ee5da8a011e0 381
mglmx 57:ee5da8a011e0 382 }
mglmx 57:ee5da8a011e0 383
mglmx 57:ee5da8a011e0 384 bool is_in_B(){
mglmx 57:ee5da8a011e0 385
mglmx 62:6fc0c683cb02 386 return in_vector(area_B,get_position_number());
mglmx 57:ee5da8a011e0 387 }
mglmx 41:4fa6aa29d1ed 388 };
mglmx 41:4fa6aa29d1ed 389
carlosperales95 45:d589318238bf 390
carlosperales95 38:b9aba3715682 391 //Creation of all the positions. One for every sensor on the table - Position name(mapping)
mglmx 35:cfcfeccb959e 392 Position d0(D0);
mglmx 35:cfcfeccb959e 393 Position d1(D1);
mglmx 35:cfcfeccb959e 394 Position d2(D2);
mglmx 35:cfcfeccb959e 395 Position d3(D3);
mglmx 35:cfcfeccb959e 396 Position d4(D4);
mglmx 35:cfcfeccb959e 397 Position d5(D5);
mglmx 35:cfcfeccb959e 398 Position d6(D6);
mglmx 35:cfcfeccb959e 399 Position d7(D7);
mglmx 35:cfcfeccb959e 400 Position d8(D8);
mglmx 35:cfcfeccb959e 401 Position d9(D9);
mglmx 35:cfcfeccb959e 402 Position d10(D10);
mglmx 35:cfcfeccb959e 403 Position d11(D11);
mglmx 35:cfcfeccb959e 404 Position d12(D12);
mglmx 35:cfcfeccb959e 405 Position d13(D13);
mglmx 35:cfcfeccb959e 406 Position d21(D21);
mglmx 35:cfcfeccb959e 407 Position d22(D22);
mglmx 35:cfcfeccb959e 408
mglmx 43:346a1f4144cd 409
carlosperales95 25:a42a1ed4d8e9 410 //01DCSSSS for speed, D is direction (fwd=1 and rev=0), C is speed(SSSSC) LSB
carlosperales95 25:a42a1ed4d8e9 411 const unsigned int DCCinst_forward = 0x68; //forward half speed
mglmx 51:badef9fc202f 412 const unsigned int DCCinst_forward_slow = 0x66; //forward slow speed (step 9)
mglmx 51:badef9fc202f 413 const unsigned int DCCinst_forward_fast = 0x6C; //Forward fast speed (step 22)
mglmx 51:badef9fc202f 414 const unsigned int DCCinst_forward_full = 0x6F; //Forward full speed
carlosperales95 25:a42a1ed4d8e9 415 const unsigned int DCCinst_reverse = 0x48; //reverse half speed
carlosperales95 25:a42a1ed4d8e9 416 const unsigned int DCCinst_stop = 0x50; //stop the train
carlosperales95 25:a42a1ed4d8e9 417
carlosperales95 25:a42a1ed4d8e9 418 //100DDDDD for basic headlight functions
carlosperales95 25:a42a1ed4d8e9 419 const unsigned int DCC_func_lighton = 0x90; //F0 turns on headlight function
carlosperales95 25:a42a1ed4d8e9 420 const unsigned int DCC_func_dimlight = 0x91; //F0 + F1 dims headlight
carlosperales95 25:a42a1ed4d8e9 421
carlosperales95 25:a42a1ed4d8e9 422
carlosperales95 25:a42a1ed4d8e9 423 //.....SWITCH COMMAND VARS
carlosperales95 25:a42a1ed4d8e9 424
carlosperales95 25:a42a1ed4d8e9 425 const unsigned int SWBaddress = 0x06; //Address for switch box
carlosperales95 25:a42a1ed4d8e9 426
carlosperales95 25:a42a1ed4d8e9 427 //100DDDDD where DDDDD is the switch command and 100 is constant:
carlosperales95 25:a42a1ed4d8e9 428
carlosperales95 25:a42a1ed4d8e9 429 //00001(F1 active)-00010(F2 active)-00100(F3 active)-01000(F4 active)
carlosperales95 25:a42a1ed4d8e9 430 //Example - 111111 0 00000101 0 10000000 0 10000101 1 - idle
carlosperales95 25:a42a1ed4d8e9 431 const unsigned int SWBidle = 0x80; //IDLE - Flip last activated SW.
carlosperales95 25:a42a1ed4d8e9 432 const unsigned int SWBflip_1 = 0x81; //Flip SW1
carlosperales95 25:a42a1ed4d8e9 433 const unsigned int SWBflip_2 = 0x82; //Flip SW2
carlosperales95 25:a42a1ed4d8e9 434 const unsigned int SWBflip_3 = 0x84; //Flip SW3
carlosperales95 25:a42a1ed4d8e9 435 const unsigned int SWBflip_4 = 0x88; //Flip SW4
carlosperales95 25:a42a1ed4d8e9 436
carlosperales95 40:9acc1341456a 437
mglmx 57:ee5da8a011e0 438 //.....DCC TRAIN COMMAND VARS
mglmx 57:ee5da8a011e0 439
mglmx 57:ee5da8a011e0 440 //typical out of box default engine DCC address is 3 (at least for Bachmann trains)
mglmx 57:ee5da8a011e0 441 //Note: A DCC controller can reprogram the address whenever needed
mglmx 57:ee5da8a011e0 442 const unsigned int DCCaddressDR = 0x01; //Address for train 1 DARK-RED
mglmx 57:ee5da8a011e0 443 const unsigned int DCCaddressLR = 0x03; //Address for train 3 LIGHT-RED
mglmx 57:ee5da8a011e0 444
carlosperales95 45:d589318238bf 445 /**
carlosperales95 45:d589318238bf 446 *Creation of 2 Train objects.
carlosperales95 45:d589318238bf 447 *Using boolean constructor because position initialization will be done after initializing all position vectors.
carlosperales95 45:d589318238bf 448 *DR_train = Dark Red train - LR_train = Light Red Train
carlosperales95 45:d589318238bf 449 **/
mglmx 62:6fc0c683cb02 450 Train DR_train(DCCaddressDR,FAST);
mglmx 57:ee5da8a011e0 451 Train LR_train(DCCaddressLR,MEDIUM);
mglmx 43:346a1f4144cd 452
carlosperales95 47:e992a129ef44 453 //possibility of an array having {dr_train, lr_train}? for reuse and modularity of functions
carlosperales95 47:e992a129ef44 454
carlosperales95 47:e992a129ef44 455
mglmx 62:6fc0c683cb02 456 //****** SYSTEM LOGGER FUNCTIONS ******//
mglmx 62:6fc0c683cb02 457
carlosperales95 45:d589318238bf 458 /**
mglmx 62:6fc0c683cb02 459 *
mglmx 62:6fc0c683cb02 460 *
mglmx 62:6fc0c683cb02 461 *
mglmx 62:6fc0c683cb02 462 **/
mglmx 62:6fc0c683cb02 463 string train_dir_toString(Train* train){
mglmx 62:6fc0c683cb02 464
mglmx 62:6fc0c683cb02 465 string dir_string;
mglmx 62:6fc0c683cb02 466
mglmx 62:6fc0c683cb02 467 if(train->goes_cw()){
mglmx 62:6fc0c683cb02 468
mglmx 62:6fc0c683cb02 469 dir_string = "cw";
mglmx 62:6fc0c683cb02 470 }else{
mglmx 62:6fc0c683cb02 471
mglmx 62:6fc0c683cb02 472 dir_string = "ccw";
mglmx 62:6fc0c683cb02 473 }
mglmx 62:6fc0c683cb02 474 return dir_string;
mglmx 62:6fc0c683cb02 475 }
mglmx 62:6fc0c683cb02 476
mglmx 62:6fc0c683cb02 477 /**
mglmx 62:6fc0c683cb02 478 *
mglmx 62:6fc0c683cb02 479 *
mglmx 62:6fc0c683cb02 480 *
mglmx 62:6fc0c683cb02 481 **/
mglmx 62:6fc0c683cb02 482 string train_pos_toString(Train* train){
mglmx 62:6fc0c683cb02 483
mglmx 62:6fc0c683cb02 484 int i = train->get_position_number();
mglmx 62:6fc0c683cb02 485 std::string tr_pos;
mglmx 62:6fc0c683cb02 486 std::stringstream ss;
mglmx 62:6fc0c683cb02 487
mglmx 62:6fc0c683cb02 488 ss << i;
mglmx 62:6fc0c683cb02 489 tr_pos = ss.str();
mglmx 62:6fc0c683cb02 490
mglmx 62:6fc0c683cb02 491 return tr_pos;
mglmx 62:6fc0c683cb02 492 }
mglmx 62:6fc0c683cb02 493
mglmx 62:6fc0c683cb02 494
mglmx 62:6fc0c683cb02 495 /**
mglmx 62:6fc0c683cb02 496 *
mglmx 62:6fc0c683cb02 497 *
mglmx 62:6fc0c683cb02 498 *
mglmx 62:6fc0c683cb02 499 **/
mglmx 62:6fc0c683cb02 500 void logger_add(string s){
mglmx 62:6fc0c683cb02 501
mglmx 62:6fc0c683cb02 502 FILE *fp = fopen("/local/sys_log.txt", "a");
mglmx 62:6fc0c683cb02 503 fprintf(fp, "%s \n", s);
mglmx 62:6fc0c683cb02 504 fclose(fp);
mglmx 62:6fc0c683cb02 505
mglmx 62:6fc0c683cb02 506 }
mglmx 62:6fc0c683cb02 507
mglmx 62:6fc0c683cb02 508
mglmx 62:6fc0c683cb02 509 /**
mglmx 62:6fc0c683cb02 510 *
mglmx 62:6fc0c683cb02 511 *
mglmx 62:6fc0c683cb02 512 *
carlosperales95 45:d589318238bf 513 **/
mglmx 62:6fc0c683cb02 514 void init_logger(){
mglmx 62:6fc0c683cb02 515
mglmx 62:6fc0c683cb02 516 FILE *fp = fopen("/local/sys_log.txt", "w");
mglmx 62:6fc0c683cb02 517
mglmx 62:6fc0c683cb02 518 fprintf(fp, "Log for the main train program: \n");
mglmx 62:6fc0c683cb02 519 fprintf(fp, "------------------------------- \n \n");
mglmx 62:6fc0c683cb02 520
mglmx 62:6fc0c683cb02 521 fclose(fp);
mglmx 62:6fc0c683cb02 522
mglmx 62:6fc0c683cb02 523 }
mglmx 62:6fc0c683cb02 524
mglmx 62:6fc0c683cb02 525 /**
mglmx 62:6fc0c683cb02 526 *
mglmx 62:6fc0c683cb02 527 *
mglmx 62:6fc0c683cb02 528 *
mglmx 62:6fc0c683cb02 529 **/
mglmx 62:6fc0c683cb02 530 void train_pos0_log(){
mglmx 62:6fc0c683cb02 531
mglmx 62:6fc0c683cb02 532 FILE *fp = fopen("/local/sys_log.txt", "a");
mglmx 62:6fc0c683cb02 533
mglmx 62:6fc0c683cb02 534 fprintf(fp, "DR_train START: D%s sensor, %s direction. \n", train_pos_toString(&DR_train), train_dir_toString(&DR_train));
mglmx 62:6fc0c683cb02 535 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 536
mglmx 62:6fc0c683cb02 537 fprintf(fp, "..............Program Start................ \n");
mglmx 62:6fc0c683cb02 538
mglmx 62:6fc0c683cb02 539 fclose(fp);
mglmx 62:6fc0c683cb02 540
mglmx 62:6fc0c683cb02 541 }
mglmx 62:6fc0c683cb02 542
mglmx 62:6fc0c683cb02 543 void print_next_sensors(Train* train){
mglmx 62:6fc0c683cb02 544
mglmx 62:6fc0c683cb02 545 FILE *fp = fopen("/local/sys_log.txt", "a");
mglmx 62:6fc0c683cb02 546
mglmx 62:6fc0c683cb02 547 for(int i=0; i<train->get_next_sensors().size(); i++){
mglmx 62:6fc0c683cb02 548
mglmx 62:6fc0c683cb02 549 fprintf(fp, "%d" ,train->get_next_sensors()[i]);
mglmx 62:6fc0c683cb02 550 }
mglmx 62:6fc0c683cb02 551
mglmx 62:6fc0c683cb02 552 fprintf(fp, "\n");
mglmx 62:6fc0c683cb02 553 fclose(fp);
mglmx 62:6fc0c683cb02 554
mglmx 62:6fc0c683cb02 555 }
mglmx 62:6fc0c683cb02 556
mglmx 62:6fc0c683cb02 557 void trains_posn_log(int sensor){
mglmx 62:6fc0c683cb02 558
mglmx 62:6fc0c683cb02 559 FILE *fp = fopen("/local/sys_log.txt", "a");
mglmx 62:6fc0c683cb02 560
mglmx 62:6fc0c683cb02 561 fprintf(fp, "SIGNAL FROM SENSOR D%d \n", sensor);
mglmx 62:6fc0c683cb02 562 fprintf(fp, "DR_train: D%s sensor, %s direction. // Next positions: ", train_pos_toString(&DR_train), train_dir_toString(&DR_train));
mglmx 62:6fc0c683cb02 563 print_next_sensors(&DR_train);
mglmx 62:6fc0c683cb02 564
mglmx 62:6fc0c683cb02 565 fprintf(fp, "LR_train: D%s sensor, %s direction. // Next positions: ", train_pos_toString(&LR_train), train_dir_toString(&LR_train));
mglmx 62:6fc0c683cb02 566 print_next_sensors(&LR_train);
mglmx 62:6fc0c683cb02 567 fprintf(fp, "\n");
mglmx 62:6fc0c683cb02 568
mglmx 62:6fc0c683cb02 569 fclose(fp);
mglmx 62:6fc0c683cb02 570 }
mglmx 62:6fc0c683cb02 571
mglmx 62:6fc0c683cb02 572
mglmx 62:6fc0c683cb02 573
mglmx 62:6fc0c683cb02 574
mglmx 18:aa43bb62e60f 575
carlosperales95 38:b9aba3715682 576
carlosperales95 45:d589318238bf 577
carlosperales95 38:b9aba3715682 578 //**************** FUNCTIONS FOR DENVER TRAIN ****************//
carlosperales95 38:b9aba3715682 579
carlosperales95 38:b9aba3715682 580
mglmx 22:e4153ca757dd 581 /**
carlosperales95 45:d589318238bf 582 *
carlosperales95 25:a42a1ed4d8e9 583 *Activates the buzzer for 0.5 seconds.
carlosperales95 45:d589318238bf 584 *
mglmx 22:e4153ca757dd 585 **/
mglmx 22:e4153ca757dd 586 void doBuzz(){
carlosperales95 25:a42a1ed4d8e9 587
mglmx 22:e4153ca757dd 588 buzz = 1;
mglmx 22:e4153ca757dd 589 wait(0.5);
mglmx 22:e4153ca757dd 590 buzz = 0;
mglmx 22:e4153ca757dd 591 }
mglmx 18:aa43bb62e60f 592
carlosperales95 45:d589318238bf 593
carlosperales95 45:d589318238bf 594 /**
carlosperales95 45:d589318238bf 595 *
carlosperales95 47:e992a129ef44 596 *Initializes every position's vectors (prev_cw and prev_ccw) with the corresponding sensors.
carlosperales95 47:e992a129ef44 597 *prev_cw - Sensors previous to the current in clockwise sense.
carlosperales95 47:e992a129ef44 598 *prev_ccw - Sensors previous to the current in counter-clockwise sense.
carlosperales95 45:d589318238bf 599 *
carlosperales95 45:d589318238bf 600 **/
mglmx 35:cfcfeccb959e 601 void init_positions(){
mglmx 36:9428c72bdd58 602
mglmx 35:cfcfeccb959e 603 d0.add_prev_cw(D1);
mglmx 35:cfcfeccb959e 604 d0.add_prev_ccw(D13);
mglmx 35:cfcfeccb959e 605
mglmx 35:cfcfeccb959e 606 d1.add_prev_cw(D22);
mglmx 35:cfcfeccb959e 607 d1.add_prev_ccw(D0);
mglmx 35:cfcfeccb959e 608
mglmx 35:cfcfeccb959e 609 d22.add_prev_cw(D2);
mglmx 35:cfcfeccb959e 610 d22.add_prev_ccw(D1);
mglmx 35:cfcfeccb959e 611
mglmx 35:cfcfeccb959e 612 d2.add_prev_cw(D21);
mglmx 35:cfcfeccb959e 613 d2.add_prev_ccw(D22);
mglmx 35:cfcfeccb959e 614
mglmx 35:cfcfeccb959e 615 d21.add_prev_cw(D3);
mglmx 35:cfcfeccb959e 616 d21.add_prev_cw(D4);
mglmx 35:cfcfeccb959e 617 d21.add_prev_ccw(D2);
mglmx 35:cfcfeccb959e 618
mglmx 35:cfcfeccb959e 619 d3.add_prev_cw(D9);
mglmx 35:cfcfeccb959e 620 d3.add_prev_ccw(D21);
mglmx 35:cfcfeccb959e 621
mglmx 35:cfcfeccb959e 622 d4.add_prev_cw(D6);
mglmx 35:cfcfeccb959e 623 d4.add_prev_ccw(D21);
mglmx 35:cfcfeccb959e 624
mglmx 35:cfcfeccb959e 625 d5.add_prev_cw(D6);
mglmx 35:cfcfeccb959e 626 d5.add_prev_ccw(D11);
mglmx 35:cfcfeccb959e 627
mglmx 35:cfcfeccb959e 628 d6.add_prev_cw(D7);
mglmx 35:cfcfeccb959e 629 d6.add_prev_ccw(D4);
mglmx 35:cfcfeccb959e 630 d6.add_prev_ccw(D5);
mglmx 35:cfcfeccb959e 631
mglmx 35:cfcfeccb959e 632 d7.add_prev_cw(D8);
mglmx 35:cfcfeccb959e 633 d7.add_prev_ccw(D6);
mglmx 35:cfcfeccb959e 634
mglmx 36:9428c72bdd58 635 d8.add_prev_cw(D9);
mglmx 36:9428c72bdd58 636 d8.add_prev_cw(D10);
mglmx 36:9428c72bdd58 637 d8.add_prev_ccw(D7);
mglmx 36:9428c72bdd58 638
mglmx 35:cfcfeccb959e 639 d9.add_prev_cw(D3);
mglmx 35:cfcfeccb959e 640 d9.add_prev_ccw(D8);
mglmx 35:cfcfeccb959e 641
mglmx 35:cfcfeccb959e 642 d10.add_prev_cw(D12);
mglmx 35:cfcfeccb959e 643 d10.add_prev_ccw(D8);
mglmx 35:cfcfeccb959e 644
mglmx 35:cfcfeccb959e 645 d11.add_prev_cw(D12);
mglmx 35:cfcfeccb959e 646 d11.add_prev_ccw(D5);
mglmx 35:cfcfeccb959e 647
mglmx 35:cfcfeccb959e 648 d12.add_prev_cw(D13);
mglmx 35:cfcfeccb959e 649 d12.add_prev_ccw(D10);
mglmx 35:cfcfeccb959e 650 d12.add_prev_ccw(D11);
mglmx 35:cfcfeccb959e 651
mglmx 35:cfcfeccb959e 652 d13.add_prev_cw(D0);
mglmx 35:cfcfeccb959e 653 d13.add_prev_ccw(D12);
mglmx 36:9428c72bdd58 654
mglmx 36:9428c72bdd58 655 //Initialize array with positions
mglmx 36:9428c72bdd58 656 positions.push_back(d0);
mglmx 36:9428c72bdd58 657 positions.push_back(d1);
mglmx 36:9428c72bdd58 658 positions.push_back(d2);
mglmx 36:9428c72bdd58 659 positions.push_back(d3);
mglmx 36:9428c72bdd58 660 positions.push_back(d4);
mglmx 36:9428c72bdd58 661 positions.push_back(d5);
mglmx 36:9428c72bdd58 662 positions.push_back(d6);
mglmx 36:9428c72bdd58 663 positions.push_back(d7);
mglmx 36:9428c72bdd58 664 positions.push_back(d8);
mglmx 36:9428c72bdd58 665 positions.push_back(d9);
mglmx 36:9428c72bdd58 666 positions.push_back(d10);
mglmx 36:9428c72bdd58 667 positions.push_back(d11);
mglmx 36:9428c72bdd58 668 positions.push_back(d12);
mglmx 36:9428c72bdd58 669 positions.push_back(d13);
mglmx 36:9428c72bdd58 670 positions.push_back(d21);
mglmx 36:9428c72bdd58 671 positions.push_back(d22);
mglmx 35:cfcfeccb959e 672 }
carlosperales95 24:1d71dd8778c4 673
carlosperales95 45:d589318238bf 674
mglmx 22:e4153ca757dd 675 /**
carlosperales95 24:1d71dd8778c4 676 *
carlosperales95 28:71bd4c83c05f 677 *Here we initialize the mcp that will be used to manage the interrupts.
carlosperales95 25:a42a1ed4d8e9 678 *
carlosperales95 24:1d71dd8778c4 679 **/
mglmx 18:aa43bb62e60f 680 void initialize_mcp(){
mglmx 33:24ce12dec157 681 mcp = new MCP23017(i2c,0x40); //Connect to SCL - p28 and SDA - p27 and MPC I2C address 0x40
mglmx 18:aa43bb62e60f 682
mglmx 33:24ce12dec157 683 mcp->_write(IODIRA, (unsigned char )0xff);
mglmx 33:24ce12dec157 684 mcp->_write(IODIRB, (unsigned char )0xff);
mglmx 33:24ce12dec157 685 mcp->_write(IPOLA, (unsigned char )0x00);
mglmx 33:24ce12dec157 686 mcp->_write(IPOLB, (unsigned char )0x00);
mglmx 33:24ce12dec157 687 mcp->_write(DEFVALA, (unsigned char )0xff);
mglmx 33:24ce12dec157 688 mcp->_write(DEFVALB, (unsigned char )0xff);
mglmx 33:24ce12dec157 689 mcp->_write(INTCONA, (unsigned char )0xff);
mglmx 33:24ce12dec157 690 mcp->_write(INTCONB, (unsigned char )0xff);
mglmx 33:24ce12dec157 691 mcp->_write(IOCONA, (unsigned char )0x2);
mglmx 33:24ce12dec157 692 mcp->_write(IOCONB, (unsigned char )0x2);
mglmx 33:24ce12dec157 693 mcp->_write(GPPUA, (unsigned char )0xff);
mglmx 33:24ce12dec157 694 mcp->_write(GPPUB, (unsigned char )0xff);
mglmx 33:24ce12dec157 695
mglmx 18:aa43bb62e60f 696 }
mglmx 18:aa43bb62e60f 697
carlosperales95 45:d589318238bf 698
carlosperales95 24:1d71dd8778c4 699 /**
carlosperales95 24:1d71dd8778c4 700 *
carlosperales95 37:bb15bea420a3 701 *Returns the number of the sensor where the train was detected.
carlosperales95 37:bb15bea420a3 702 *
carlosperales95 47:e992a129ef44 703 *@number -
carlosperales95 47:e992a129ef44 704 *@interrupt -
carlosperales95 47:e992a129ef44 705 *
carlosperales95 37:bb15bea420a3 706 **/
mglmx 34:c9ab2a987734 707 int get_sensor(unsigned int number,int interrupt){
carlosperales95 45:d589318238bf 708
mglmx 34:c9ab2a987734 709 int sensor = -1;
mglmx 34:c9ab2a987734 710
carlosperales95 37:bb15bea420a3 711 for(int i=0; i<8; i++){
mglmx 34:c9ab2a987734 712
carlosperales95 45:d589318238bf 713 if(~number & 1<<i){
carlosperales95 45:d589318238bf 714
mglmx 34:c9ab2a987734 715 sensor = i;
mglmx 34:c9ab2a987734 716 }
mglmx 34:c9ab2a987734 717 }
mglmx 34:c9ab2a987734 718
mglmx 34:c9ab2a987734 719 if(interrupt == 1){
carlosperales95 45:d589318238bf 720
carlosperales95 37:bb15bea420a3 721 sensor+= 8; // Sensors caught by interreupt1 are identified from 8 to 15.
mglmx 34:c9ab2a987734 722 }
carlosperales95 45:d589318238bf 723
mglmx 34:c9ab2a987734 724 return sensor;
mglmx 34:c9ab2a987734 725 }
mglmx 34:c9ab2a987734 726
mglmx 62:6fc0c683cb02 727 /**
mglmx 62:6fc0c683cb02 728 *
mglmx 62:6fc0c683cb02 729 *Method to flip the switches
mglmx 62:6fc0c683cb02 730 *
mglmx 62:6fc0c683cb02 731 *@switchId - (1-4)The ID of the switch we want to flip
mglmx 62:6fc0c683cb02 732 *@times - The number of times we want to send the command
mglmx 62:6fc0c683cb02 733 *@activate - True if the switch is going to be activated. False if it needs to go back to rest position.
mglmx 62:6fc0c683cb02 734 *
mglmx 62:6fc0c683cb02 735 **/
mglmx 62:6fc0c683cb02 736 void flip_switch(int switchId, int times, bool activate=true){
mglmx 62:6fc0c683cb02 737
mglmx 62:6fc0c683cb02 738 unsigned int SWBflip = SWBidle; //IDLE - Flip last activated SW.
mglmx 62:6fc0c683cb02 739
mglmx 62:6fc0c683cb02 740 switch(switchId){
mglmx 62:6fc0c683cb02 741
mglmx 62:6fc0c683cb02 742 case 1:
mglmx 62:6fc0c683cb02 743 SWBflip = SWBflip_1; //FLIP SW1
mglmx 62:6fc0c683cb02 744 break;
mglmx 62:6fc0c683cb02 745
mglmx 62:6fc0c683cb02 746 case 2:
mglmx 62:6fc0c683cb02 747 SWBflip = SWBflip_2; //FLIP SW2
mglmx 62:6fc0c683cb02 748 break;
mglmx 62:6fc0c683cb02 749
mglmx 62:6fc0c683cb02 750 case 3:
mglmx 62:6fc0c683cb02 751 SWBflip = SWBflip_3; //FLIP SW3
mglmx 62:6fc0c683cb02 752 break;
mglmx 62:6fc0c683cb02 753
mglmx 62:6fc0c683cb02 754 case 4:
mglmx 62:6fc0c683cb02 755 SWBflip = SWBflip_4; //FLIP SW4
mglmx 62:6fc0c683cb02 756 break;
mglmx 62:6fc0c683cb02 757
mglmx 62:6fc0c683cb02 758 default:
mglmx 62:6fc0c683cb02 759 break;
mglmx 62:6fc0c683cb02 760 }
mglmx 62:6fc0c683cb02 761
mglmx 62:6fc0c683cb02 762 //Security measure not to burn the switch.
mglmx 62:6fc0c683cb02 763 if(times <=5){
mglmx 62:6fc0c683cb02 764
mglmx 62:6fc0c683cb02 765 DCC_send_command(SWBaddress,SWBflip,times); //Activating switch
mglmx 62:6fc0c683cb02 766 if(!activate){
mglmx 62:6fc0c683cb02 767
mglmx 62:6fc0c683cb02 768 DCC_send_command(SWBaddress,SWBidle,times); //Sending IDLE to flip back.
mglmx 62:6fc0c683cb02 769 }
mglmx 62:6fc0c683cb02 770 }
mglmx 62:6fc0c683cb02 771 }
mglmx 62:6fc0c683cb02 772
mglmx 62:6fc0c683cb02 773 /**
mglmx 62:6fc0c683cb02 774 * Action to do when NAC is detected
mglmx 62:6fc0c683cb02 775 * Booster is disabled and the buzz is activated
mglmx 62:6fc0c683cb02 776 *
mglmx 62:6fc0c683cb02 777 */
mglmx 62:6fc0c683cb02 778 void NAC_action(){
mglmx 62:6fc0c683cb02 779 enable = 0;
mglmx 62:6fc0c683cb02 780 doBuzz();
mglmx 62:6fc0c683cb02 781 }
mglmx 62:6fc0c683cb02 782
mglmx 62:6fc0c683cb02 783
carlosperales95 45:d589318238bf 784
carlosperales95 42:b445252a772a 785 /**
mglmx 57:ee5da8a011e0 786 *This method will check if there is a non-avoidable frontal collision(NAFC).
carlosperales95 47:e992a129ef44 787 *A NAFC will happen if:
carlosperales95 47:e992a129ef44 788 *
carlosperales95 47:e992a129ef44 789 *Both trains in area A or B with different direction
carlosperales95 47:e992a129ef44 790 *Trains in (D11 and D5) or (D9 and D3) with same direction
carlosperales95 47:e992a129ef44 791 *
mglmx 43:346a1f4144cd 792 */
mglmx 57:ee5da8a011e0 793 bool check_NAC(){
carlosperales95 45:d589318238bf 794
mglmx 43:346a1f4144cd 795 bool NAC = false;
mglmx 43:346a1f4144cd 796
mglmx 57:ee5da8a011e0 797 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 798
mglmx 43:346a1f4144cd 799 if(DR_train.goes_cw() ^ LR_train.goes_cw()){ //XOR: They must have different values to be true (Different direction)
carlosperales95 45:d589318238bf 800
mglmx 43:346a1f4144cd 801 NAC = true;
mglmx 43:346a1f4144cd 802 }
mglmx 43:346a1f4144cd 803 }else if((DR_train.get_position_number() == D11) && (LR_train.get_position_number() == D5 )){ //Check if they are in position D11 and D5
carlosperales95 45:d589318238bf 804
mglmx 43:346a1f4144cd 805 if(!(DR_train.goes_cw() ^ LR_train.goes_cw())){ // NOT XOR: They must have same values to be true (Same direction)
carlosperales95 45:d589318238bf 806
mglmx 43:346a1f4144cd 807 NAC = true;
mglmx 43:346a1f4144cd 808 }
mglmx 43:346a1f4144cd 809 }else if((DR_train.get_position_number() == D9) && (LR_train.get_position_number() == D3 )){//Check if they are in position D9 and D3
carlosperales95 45:d589318238bf 810
mglmx 43:346a1f4144cd 811 if(!(DR_train.goes_cw() ^ LR_train.goes_cw())){ // NOT XOR: They must have same values to be true (Same direction)
carlosperales95 45:d589318238bf 812
mglmx 43:346a1f4144cd 813 NAC = true;
mglmx 43:346a1f4144cd 814 }
mglmx 43:346a1f4144cd 815 }
carlosperales95 45:d589318238bf 816 return NAC;
mglmx 43:346a1f4144cd 817 }
mglmx 43:346a1f4144cd 818
mglmx 62:6fc0c683cb02 819 /**
mglmx 62:6fc0c683cb02 820 * Switch_n switch that needs to switch
carlosperales95 63:86f8dfa007ac 821 * cont_sensor sensor that when activated the stopped train continues
mglmx 62:6fc0c683cb02 822 * switch_sensor sensor where the switch should be activated
mglmx 62:6fc0c683cb02 823 */
mglmx 62:6fc0c683cb02 824 void AFC_action(int switch_n, int cont_sensor, int switch_sensor, Train *stop_train, Train * cont_train ){
mglmx 62:6fc0c683cb02 825 bool send_pack_switch = false;
mglmx 55:aa3baa01f43d 826
mglmx 62:6fc0c683cb02 827 //flip_switch(switch_n,5);
mglmx 55:aa3baa01f43d 828
mglmx 62:6fc0c683cb02 829 while(cont_train->get_position_number() != cont_sensor){
mglmx 62:6fc0c683cb02 830 if(cont_train->get_position_number() == switch_sensor){
mglmx 62:6fc0c683cb02 831 send_pack_switch = true;
mglmx 62:6fc0c683cb02 832 }
mglmx 62:6fc0c683cb02 833 stop_train->set_speed(STOP);
mglmx 62:6fc0c683cb02 834 stop_train->run(); //Stopping train on sensor D4 or D10
mglmx 62:6fc0c683cb02 835 cont_train->run();
mglmx 62:6fc0c683cb02 836
mglmx 62:6fc0c683cb02 837 if(send_pack_switch){
mglmx 62:6fc0c683cb02 838 lcd.cls();
mglmx 62:6fc0c683cb02 839 lcd.printf("Switching SW%d",switch_n);
mglmx 62:6fc0c683cb02 840 flip_switch(switch_n,5);
mglmx 62:6fc0c683cb02 841 }
mglmx 55:aa3baa01f43d 842 }
mglmx 62:6fc0c683cb02 843
mglmx 62:6fc0c683cb02 844 flip_switch(5,5); //Send IDLE command
mglmx 62:6fc0c683cb02 845
mglmx 55:aa3baa01f43d 846 }
carlosperales95 45:d589318238bf 847
carlosperales95 58:b60db1092088 848
carlosperales95 58:b60db1092088 849
mglmx 43:346a1f4144cd 850 /**
carlosperales95 47:e992a129ef44 851 *
mglmx 55:aa3baa01f43d 852 *The function will check if there is an Avoidable Frontal Collision (AFC).
carlosperales95 47:e992a129ef44 853 *AFC will occur if:
carlosperales95 47:e992a129ef44 854 *
carlosperales95 47:e992a129ef44 855 *Train in area A(ccw) and train in D4(cw)
carlosperales95 47:e992a129ef44 856 *Train in area A(cw) and train in D10(ccw)
carlosperales95 47:e992a129ef44 857 *Train in area B(cw) and train in D4(ccw)
mglmx 62:6fc0c683cb02 858 *Train in area B(ccw) and train in D10(ccw)
mglmx 62:6fc0c683cb02 859 *
mglmx 62:6fc0c683cb02 860 *stop_train is the train that is going to stop in sensors D4 or D10 until the other train passes
mglmx 62:6fc0c683cb02 861 *cont_train is the train that won't stop and will do the switch
carlosperales95 47:e992a129ef44 862 *
carlosperales95 46:7a0933676b13 863 **/
mglmx 62:6fc0c683cb02 864 bool check_AFC(Train *stop_train, Train *cont_train){ //TODO - Add same for LR train
mglmx 62:6fc0c683cb02 865 bool detected_AFC = false;
mglmx 62:6fc0c683cb02 866 if( stop_train->get_position_number() == D4){
carlosperales95 45:d589318238bf 867
mglmx 62:6fc0c683cb02 868 if(stop_train->goes_cw()){
carlosperales95 45:d589318238bf 869
mglmx 62:6fc0c683cb02 870 if(cont_train->is_in_A() && !cont_train->goes_cw()){
mglmx 62:6fc0c683cb02 871
mglmx 62:6fc0c683cb02 872 lcd.cls();
mglmx 62:6fc0c683cb02 873 lcd.printf("AFC!!! STOP D4 SW2 CONT D3");
carlosperales95 45:d589318238bf 874
mglmx 62:6fc0c683cb02 875 AFC_action(2,D3,D2,stop_train,cont_train);
mglmx 62:6fc0c683cb02 876 //Activate switch2
mglmx 62:6fc0c683cb02 877 //When cont_train is at D3 stop_train continues
mglmx 62:6fc0c683cb02 878
mglmx 62:6fc0c683cb02 879 detected_AFC = true;
mglmx 43:346a1f4144cd 880 }
mglmx 43:346a1f4144cd 881 }else{ //DR goes ccw
carlosperales95 45:d589318238bf 882
mglmx 62:6fc0c683cb02 883 if(cont_train->is_in_B() && cont_train->goes_cw()){
carlosperales95 45:d589318238bf 884
mglmx 62:6fc0c683cb02 885 lcd.cls();
mglmx 62:6fc0c683cb02 886 lcd.printf("AFC!!! STOP D4 SW3 CONT D5");
mglmx 62:6fc0c683cb02 887
mglmx 62:6fc0c683cb02 888 AFC_action(3,D5,D6,stop_train,cont_train);
mglmx 43:346a1f4144cd 889 //DR_train stops
mglmx 43:346a1f4144cd 890 //Activate switch3
mglmx 43:346a1f4144cd 891 //When LR is at D5 DR continues
mglmx 62:6fc0c683cb02 892 detected_AFC = true;
mglmx 43:346a1f4144cd 893 }
mglmx 43:346a1f4144cd 894 }
mglmx 43:346a1f4144cd 895
mglmx 62:6fc0c683cb02 896 }else if(stop_train->get_position_number() == D10){
carlosperales95 45:d589318238bf 897
mglmx 62:6fc0c683cb02 898 if(stop_train->goes_cw()){
carlosperales95 45:d589318238bf 899
mglmx 62:6fc0c683cb02 900 if(cont_train->is_in_B() && !cont_train->goes_cw()){
mglmx 62:6fc0c683cb02 901 lcd.cls();
mglmx 62:6fc0c683cb02 902 lcd.printf("AFC!!! STOP D10 SW4 CONT D9");
carlosperales95 45:d589318238bf 903
mglmx 62:6fc0c683cb02 904 AFC_action(4,D9,D8,stop_train,cont_train);
mglmx 43:346a1f4144cd 905 //DR train stops
mglmx 43:346a1f4144cd 906 //Activate switch4
mglmx 43:346a1f4144cd 907 //When LR is at D9 DR continues
mglmx 62:6fc0c683cb02 908 detected_AFC = true;
mglmx 43:346a1f4144cd 909 }
mglmx 43:346a1f4144cd 910 }else{
carlosperales95 45:d589318238bf 911
mglmx 62:6fc0c683cb02 912 if(cont_train->is_in_A() && cont_train->goes_cw()){
mglmx 62:6fc0c683cb02 913 lcd.cls();
mglmx 62:6fc0c683cb02 914 lcd.printf("AFC!!! STOP D10 SW1 CONT D11");
mglmx 62:6fc0c683cb02 915 AFC_action(1,D11,D12,stop_train,cont_train);
mglmx 43:346a1f4144cd 916 //DR train stops
mglmx 43:346a1f4144cd 917 //Activate switch1
mglmx 62:6fc0c683cb02 918 //When LR is at D11 DR continues
mglmx 62:6fc0c683cb02 919 detected_AFC = true;
mglmx 43:346a1f4144cd 920 }
mglmx 43:346a1f4144cd 921 }
mglmx 43:346a1f4144cd 922 }
mglmx 62:6fc0c683cb02 923
mglmx 62:6fc0c683cb02 924 return detected_AFC;
mglmx 43:346a1f4144cd 925 }
mglmx 43:346a1f4144cd 926
carlosperales95 45:d589318238bf 927
carlosperales95 45:d589318238bf 928 /**
carlosperales95 45:d589318238bf 929 *
carlosperales95 63:86f8dfa007ac 930 *
carlosperales95 63:86f8dfa007ac 931 *
carlosperales95 63:86f8dfa007ac 932 **/
carlosperales95 63:86f8dfa007ac 933 bool check_ALC(Train *stop_train, Train *cont_train){ //TODO - Add same for LR train
carlosperales95 64:be1015efd974 934
carlosperales95 63:86f8dfa007ac 935 bool detected_ALC = false;
carlosperales95 63:86f8dfa007ac 936 if( stop_train->get_position_number() == D4){
carlosperales95 63:86f8dfa007ac 937
carlosperales95 63:86f8dfa007ac 938 if(stop_train->goes_cw()){
carlosperales95 63:86f8dfa007ac 939
carlosperales95 63:86f8dfa007ac 940 if(cont_train->get_position_number() == D3 && cont_train->goes_cw()){
carlosperales95 63:86f8dfa007ac 941
carlosperales95 63:86f8dfa007ac 942 lcd.cls();
carlosperales95 63:86f8dfa007ac 943 lcd.printf("ALC!!! STOP D4 CONT D3");
carlosperales95 63:86f8dfa007ac 944
carlosperales95 64:be1015efd974 945 ALC_action(14, stop_train, cont_train )
carlosperales95 63:86f8dfa007ac 946 //When cont_train is at D22 stop_train continues
carlosperales95 63:86f8dfa007ac 947
carlosperales95 63:86f8dfa007ac 948 detected_ALC = true;
carlosperales95 63:86f8dfa007ac 949 }
carlosperales95 63:86f8dfa007ac 950 }else{ //DR goes ccw
carlosperales95 63:86f8dfa007ac 951
carlosperales95 63:86f8dfa007ac 952 if(cont_train->get_position_number() == D5 && !cont_train->goes_cw()){
carlosperales95 63:86f8dfa007ac 953
carlosperales95 63:86f8dfa007ac 954 lcd.cls();
carlosperales95 63:86f8dfa007ac 955 lcd.printf("AFC!!! STOP D4 SW3 CONT D5");
carlosperales95 63:86f8dfa007ac 956
carlosperales95 64:be1015efd974 957 ALC_action(6, stop_train, cont_train )
carlosperales95 63:86f8dfa007ac 958 //Train stops
carlosperales95 63:86f8dfa007ac 959 //When CONT is at D6 DR continues
carlosperales95 63:86f8dfa007ac 960 detected_AFC = true;
carlosperales95 63:86f8dfa007ac 961 }
carlosperales95 63:86f8dfa007ac 962 }
carlosperales95 63:86f8dfa007ac 963
carlosperales95 63:86f8dfa007ac 964 }else if(stop_train->get_position_number() == D10){
carlosperales95 63:86f8dfa007ac 965
carlosperales95 63:86f8dfa007ac 966 if(stop_train->goes_cw()){
carlosperales95 63:86f8dfa007ac 967
carlosperales95 64:be1015efd974 968 if(cont_train->get_position_number() == D9 && cont_train->goes_cw()){
carlosperales95 63:86f8dfa007ac 969
carlosperales95 63:86f8dfa007ac 970 lcd.cls();
carlosperales95 63:86f8dfa007ac 971 lcd.printf("AFC!!! STOP D10 CONT D9");
carlosperales95 63:86f8dfa007ac 972
carlosperales95 64:be1015efd974 973 ALC_action(8, stop_train, cont_train )
carlosperales95 63:86f8dfa007ac 974 //D10 train stops
carlosperales95 63:86f8dfa007ac 975 //When CONT is at D8, D10 continues
carlosperales95 63:86f8dfa007ac 976 detected_AFC = true;
carlosperales95 63:86f8dfa007ac 977 }
carlosperales95 63:86f8dfa007ac 978 }else{
carlosperales95 63:86f8dfa007ac 979
carlosperales95 64:be1015efd974 980 if(cont_train->get_position_number() == D11 && !cont_train->goes_cw()){
carlosperales95 63:86f8dfa007ac 981
carlosperales95 63:86f8dfa007ac 982 lcd.cls();
carlosperales95 63:86f8dfa007ac 983 lcd.printf("AFC!!! STOP D10 CONT D11");
carlosperales95 63:86f8dfa007ac 984
carlosperales95 64:be1015efd974 985 ALC_action(12, stop_train, cont_train )
carlosperales95 63:86f8dfa007ac 986 //D10 train stops
carlosperales95 63:86f8dfa007ac 987 //When CONT is at D12, D10 continues
carlosperales95 63:86f8dfa007ac 988 detected_AFC = true;
carlosperales95 63:86f8dfa007ac 989 }
carlosperales95 63:86f8dfa007ac 990 }
carlosperales95 63:86f8dfa007ac 991 }
carlosperales95 63:86f8dfa007ac 992
carlosperales95 64:be1015efd974 993 return detected_ALC;
carlosperales95 63:86f8dfa007ac 994 }
carlosperales95 63:86f8dfa007ac 995
carlosperales95 64:be1015efd974 996
carlosperales95 64:be1015efd974 997 /**
carlosperales95 64:be1015efd974 998 * Switch_n switch that needs to switch
carlosperales95 64:be1015efd974 999 * cont_sensor sensor that when activated the stopped train continues
carlosperales95 64:be1015efd974 1000 * switch_sensor sensor where the switch should be activated
carlosperales95 64:be1015efd974 1001 */
carlosperales95 64:be1015efd974 1002 void ALC_action(int cont_sensor, Train *stop_train, Train * cont_train ){
carlosperales95 64:be1015efd974 1003
carlosperales95 64:be1015efd974 1004 //flip_switch(switch_n,5);
carlosperales95 64:be1015efd974 1005
carlosperales95 64:be1015efd974 1006 while(cont_train->get_position_number() != cont_sensor){
carlosperales95 64:be1015efd974 1007
carlosperales95 64:be1015efd974 1008 stop_train->set_speed(STOP);
carlosperales95 64:be1015efd974 1009 stop_train->run(); //Stopping train on sensor D4 or D10
carlosperales95 64:be1015efd974 1010 cont_train->run();
carlosperales95 64:be1015efd974 1011 }
carlosperales95 64:be1015efd974 1012 }
carlosperales95 64:be1015efd974 1013
carlosperales95 64:be1015efd974 1014
carlosperales95 63:86f8dfa007ac 1015 /**
carlosperales95 63:86f8dfa007ac 1016 *
carlosperales95 47:e992a129ef44 1017 *The method check_position will check if any of the trains is in any of the areas.
carlosperales95 47:e992a129ef44 1018 *It will go through all the area vectors (A,B) and call the function in_vector to check inside the vectors.
carlosperales95 45:d589318238bf 1019 *
carlosperales95 45:d589318238bf 1020 **/
mglmx 57:ee5da8a011e0 1021 void check_position(){
mglmx 57:ee5da8a011e0 1022
mglmx 57:ee5da8a011e0 1023 if(check_NAC()){
mglmx 55:aa3baa01f43d 1024 lcd.cls();
mglmx 55:aa3baa01f43d 1025 lcd.printf("NAC!!!");
mglmx 62:6fc0c683cb02 1026 NAC_action();
mglmx 62:6fc0c683cb02 1027 }
mglmx 62:6fc0c683cb02 1028 check_AFC(&DR_train,&LR_train);
mglmx 62:6fc0c683cb02 1029
mglmx 62:6fc0c683cb02 1030 check_AFC(&LR_train,&DR_train);
mglmx 62:6fc0c683cb02 1031
mglmx 43:346a1f4144cd 1032
mglmx 43:346a1f4144cd 1033 }
mglmx 43:346a1f4144cd 1034
carlosperales95 45:d589318238bf 1035
carlosperales95 45:d589318238bf 1036 /**
carlosperales95 45:d589318238bf 1037 *
carlosperales95 47:e992a129ef44 1038 *Description
carlosperales95 45:d589318238bf 1039 *
carlosperales95 47:e992a129ef44 1040 *@sensor -
carlosperales95 45:d589318238bf 1041 *
carlosperales95 45:d589318238bf 1042 **/
mglmx 35:cfcfeccb959e 1043 void update_train_pos(int sensor){
mglmx 62:6fc0c683cb02 1044 led2 = 1;
mglmx 41:4fa6aa29d1ed 1045
mglmx 35:cfcfeccb959e 1046 bool found_DR = false;
mglmx 41:4fa6aa29d1ed 1047 bool found_LR = false;
mglmx 62:6fc0c683cb02 1048
mglmx 62:6fc0c683cb02 1049 string DR_dir,LR_dir;
mglmx 49:880c0b9c9c64 1050
mglmx 49:880c0b9c9c64 1051 if(DR_train.goes_cw()){
mglmx 49:880c0b9c9c64 1052 DR_dir = "cw";
mglmx 49:880c0b9c9c64 1053 }else{
mglmx 49:880c0b9c9c64 1054 DR_dir = "ccw";
mglmx 49:880c0b9c9c64 1055 }
mglmx 49:880c0b9c9c64 1056
mglmx 49:880c0b9c9c64 1057 if(LR_train.goes_cw()){
mglmx 49:880c0b9c9c64 1058 LR_dir = "cw";
mglmx 49:880c0b9c9c64 1059 }else{
mglmx 49:880c0b9c9c64 1060 LR_dir = "ccw";
mglmx 55:aa3baa01f43d 1061 }
mglmx 62:6fc0c683cb02 1062
mglmx 62:6fc0c683cb02 1063
mglmx 62:6fc0c683cb02 1064 //wait(0.7);
mglmx 62:6fc0c683cb02 1065
mglmx 55:aa3baa01f43d 1066 if(sensor == DR_train.get_position_number() || sensor == LR_train.get_position_number()){
mglmx 62:6fc0c683cb02 1067 led2 = 0;
mglmx 62:6fc0c683cb02 1068 }else{
carlosperales95 58:b60db1092088 1069
mglmx 62:6fc0c683cb02 1070 //trains_posn_log(sensor);
mglmx 55:aa3baa01f43d 1071
mglmx 55:aa3baa01f43d 1072 lcd.cls();
mglmx 55:aa3baa01f43d 1073 lcd.printf("S:D%d DR%d(",sensor,DR_train.get_position_number());
mglmx 55:aa3baa01f43d 1074
mglmx 55:aa3baa01f43d 1075 //TODO: Do a for to print all next sensors.
mglmx 55:aa3baa01f43d 1076 for(int i=0; i<DR_train.get_next_sensors().size(); i++){
mglmx 55:aa3baa01f43d 1077
mglmx 55:aa3baa01f43d 1078 lcd.printf("%d,",DR_train.get_next_sensors()[i]);
mglmx 55:aa3baa01f43d 1079 }
mglmx 55:aa3baa01f43d 1080
mglmx 55:aa3baa01f43d 1081 lcd.printf(")%s LR%d(",DR_dir,LR_train.get_position_number());
mglmx 55:aa3baa01f43d 1082
mglmx 55:aa3baa01f43d 1083 for(int i=0; i<LR_train.get_next_sensors().size(); i++){
mglmx 55:aa3baa01f43d 1084
mglmx 55:aa3baa01f43d 1085 lcd.printf("%d,",LR_train.get_next_sensors()[i]);
mglmx 55:aa3baa01f43d 1086 }
mglmx 55:aa3baa01f43d 1087
mglmx 55:aa3baa01f43d 1088 lcd.printf(")%s",LR_dir);
mglmx 62:6fc0c683cb02 1089
mglmx 62:6fc0c683cb02 1090
mglmx 52:c08495446f87 1091 //Checking next sensors for DR train
mglmx 55:aa3baa01f43d 1092 for(int i=0; i<DR_train.get_next_sensors().size(); i++){
mglmx 55:aa3baa01f43d 1093
mglmx 55:aa3baa01f43d 1094 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 1095
mglmx 55:aa3baa01f43d 1096 found_DR = true;
mglmx 55:aa3baa01f43d 1097
mglmx 55:aa3baa01f43d 1098
mglmx 55:aa3baa01f43d 1099 if(DR_train.goes_cw()){
mglmx 55:aa3baa01f43d 1100 if(DR_train.get_position_number() == D5 || DR_train.get_position_number() == D11){
mglmx 55:aa3baa01f43d 1101
mglmx 55:aa3baa01f43d 1102 DR_train.set_goes_cw(false); //If train goes cw and passes D5 or D11 we change orientation
mglmx 55:aa3baa01f43d 1103 }
mglmx 55:aa3baa01f43d 1104 }else{
mglmx 55:aa3baa01f43d 1105
mglmx 55:aa3baa01f43d 1106 if(DR_train.get_position_number() == D9 || DR_train.get_position_number() == D3){
mglmx 55:aa3baa01f43d 1107
mglmx 55:aa3baa01f43d 1108 DR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation
mglmx 55:aa3baa01f43d 1109 }
mglmx 55:aa3baa01f43d 1110 }
mglmx 55:aa3baa01f43d 1111
mglmx 55:aa3baa01f43d 1112 DR_train.set_position(sensor);
mglmx 55:aa3baa01f43d 1113
mglmx 55:aa3baa01f43d 1114 }
mglmx 55:aa3baa01f43d 1115 }
mglmx 55:aa3baa01f43d 1116
mglmx 55:aa3baa01f43d 1117 //Checking next sensors for LR train
mglmx 55:aa3baa01f43d 1118 for(int i=0; i<LR_train.get_next_sensors().size(); i++){
mglmx 55:aa3baa01f43d 1119
mglmx 55:aa3baa01f43d 1120 if(LR_train.get_next_sensors()[i] == sensor){
carlosperales95 45:d589318238bf 1121
mglmx 55:aa3baa01f43d 1122 found_LR = true;
mglmx 55:aa3baa01f43d 1123
mglmx 55:aa3baa01f43d 1124 if(LR_train.goes_cw()){
carlosperales95 45:d589318238bf 1125
mglmx 55:aa3baa01f43d 1126 if(LR_train.get_position_number() == D5 || LR_train.get_position_number() == D11){
mglmx 55:aa3baa01f43d 1127 LR_train.set_goes_cw(false); //If train goes cw and passes D5 or D11 we change orientation
mglmx 55:aa3baa01f43d 1128 }
mglmx 55:aa3baa01f43d 1129 }else{
mglmx 55:aa3baa01f43d 1130
mglmx 55:aa3baa01f43d 1131 if(LR_train.get_position_number() == D9 || LR_train.get_position_number() == D3 ){
mglmx 55:aa3baa01f43d 1132
mglmx 55:aa3baa01f43d 1133 LR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation
mglmx 55:aa3baa01f43d 1134 }
mglmx 41:4fa6aa29d1ed 1135 }
mglmx 55:aa3baa01f43d 1136 LR_train.set_position(sensor);
mglmx 55:aa3baa01f43d 1137
mglmx 55:aa3baa01f43d 1138 }
mglmx 55:aa3baa01f43d 1139 }
mglmx 55:aa3baa01f43d 1140 /*
mglmx 55:aa3baa01f43d 1141 if(found_DR){
mglmx 49:880c0b9c9c64 1142
mglmx 55:aa3baa01f43d 1143 //doBuzz();
mglmx 55:aa3baa01f43d 1144 lcd.cls();
mglmx 55:aa3baa01f43d 1145 lcd.printf("DR is at D%d",DR_train.get_position_number());
mglmx 41:4fa6aa29d1ed 1146 }
mglmx 55:aa3baa01f43d 1147
mglmx 55:aa3baa01f43d 1148 if(found_LR){
mglmx 55:aa3baa01f43d 1149
mglmx 55:aa3baa01f43d 1150 lcd.cls();
mglmx 55:aa3baa01f43d 1151 lcd.printf("LR is at D%d",LR_train.get_position_number());
mglmx 55:aa3baa01f43d 1152 }
mglmx 55:aa3baa01f43d 1153
mglmx 55:aa3baa01f43d 1154 if(!found_DR && !found_LR){
mglmx 55:aa3baa01f43d 1155
mglmx 55:aa3baa01f43d 1156 lcd.cls();
mglmx 55:aa3baa01f43d 1157 lcd.printf("No train before :(");
mglmx 55:aa3baa01f43d 1158 }
mglmx 55:aa3baa01f43d 1159 */
mglmx 62:6fc0c683cb02 1160
mglmx 41:4fa6aa29d1ed 1161 }
mglmx 62:6fc0c683cb02 1162
mglmx 35:cfcfeccb959e 1163 }
mglmx 35:cfcfeccb959e 1164
carlosperales95 37:bb15bea420a3 1165
mglmx 34:c9ab2a987734 1166 /**
mglmx 34:c9ab2a987734 1167 *
carlosperales95 25:a42a1ed4d8e9 1168 *Method to catch interrupts 0
carlosperales95 25:a42a1ed4d8e9 1169 *
carlosperales95 24:1d71dd8778c4 1170 **/
mglmx 33:24ce12dec157 1171 void on_int0_change(){
carlosperales95 25:a42a1ed4d8e9 1172
mglmx 33:24ce12dec157 1173 wait_us(2000);
mglmx 33:24ce12dec157 1174 int sensor_data = mcp->_read(INTCAPA);
mglmx 34:c9ab2a987734 1175 int sensor = get_sensor(sensor_data,0);
mglmx 55:aa3baa01f43d 1176 //lcd.cls();
mglmx 55:aa3baa01f43d 1177 //lcd.printf("int0 0x%x \n Sensor: %d",sensor_data,sensor);
mglmx 41:4fa6aa29d1ed 1178
mglmx 35:cfcfeccb959e 1179 update_train_pos(sensor);
mglmx 16:2a2da0e67793 1180 }
mglmx 16:2a2da0e67793 1181
mglmx 35:cfcfeccb959e 1182
carlosperales95 24:1d71dd8778c4 1183 /**
carlosperales95 24:1d71dd8778c4 1184 *
carlosperales95 25:a42a1ed4d8e9 1185 *Method to catch interrupts 1
carlosperales95 25:a42a1ed4d8e9 1186 *
carlosperales95 24:1d71dd8778c4 1187 **/
mglmx 33:24ce12dec157 1188 void on_int1_change(){
carlosperales95 25:a42a1ed4d8e9 1189
mglmx 33:24ce12dec157 1190 wait_us(2000);
mglmx 33:24ce12dec157 1191 int sensor_data = mcp->_read(INTCAPB);
mglmx 34:c9ab2a987734 1192 int sensor = get_sensor(sensor_data,1);
mglmx 55:aa3baa01f43d 1193 //lcd.cls();
mglmx 55:aa3baa01f43d 1194 //lcd.printf("int1 0x%x \n Sensor: %d",sensor_data,sensor);
mglmx 35:cfcfeccb959e 1195
mglmx 35:cfcfeccb959e 1196 update_train_pos(sensor);
mglmx 16:2a2da0e67793 1197 }
mglmx 26:5c966a0a3e8e 1198
carlosperales95 45:d589318238bf 1199 /**
carlosperales95 45:d589318238bf 1200 *
carlosperales95 47:e992a129ef44 1201 *Clear current interrupts
carlosperales95 45:d589318238bf 1202 *
carlosperales95 45:d589318238bf 1203 **/
mglmx 62:6fc0c683cb02 1204 void init() {
mglmx 26:5c966a0a3e8e 1205
mglmx 33:24ce12dec157 1206 mcp->_read(GPIOA);
mglmx 33:24ce12dec157 1207 mcp->_read(GPIOB); // Register callbacks
mglmx 33:24ce12dec157 1208 int0.fall(&on_int0_change);
mglmx 33:24ce12dec157 1209 int1.fall(&on_int1_change); // Enable interrupts on MCP
mglmx 33:24ce12dec157 1210 mcp->_write(GPINTENA, (unsigned char )0xff);
mglmx 33:24ce12dec157 1211 mcp->_write(GPINTENB, (unsigned char )0xff); // Ready to go!
mglmx 62:6fc0c683cb02 1212 }
mglmx 62:6fc0c683cb02 1213
carlosperales95 11:021210c59a95 1214
carlosperales95 24:1d71dd8778c4 1215
mglmx 62:6fc0c683cb02 1216
carlosperales95 11:021210c59a95 1217
mglmx 62:6fc0c683cb02 1218
mglmx 21:e6f1649add39 1219
mglmx 22:e4153ca757dd 1220
carlosperales95 24:1d71dd8778c4 1221 /**
carlosperales95 24:1d71dd8778c4 1222 *
carlosperales95 29:559eb2164488 1223 *Checks if any of the switches of the box has been activated.
carlosperales95 29:559eb2164488 1224 *Calls necessary function and displays LCD text.
carlosperales95 25:a42a1ed4d8e9 1225 *
carlosperales95 24:1d71dd8778c4 1226 **/
mglmx 21:e6f1649add39 1227 void checkSwitch(){
carlosperales95 24:1d71dd8778c4 1228
mglmx 22:e4153ca757dd 1229 if(switch1 == 1){
carlosperales95 24:1d71dd8778c4 1230
mglmx 22:e4153ca757dd 1231 lcd.cls();
mglmx 22:e4153ca757dd 1232 lcd.printf("Switch 1 ON - SW1");
mglmx 55:aa3baa01f43d 1233 flip_switch(1,5);
mglmx 22:e4153ca757dd 1234 }else if(switch2 == 1){
carlosperales95 24:1d71dd8778c4 1235
carlosperales95 24:1d71dd8778c4 1236 lcd.cls();
carlosperales95 24:1d71dd8778c4 1237 lcd.printf("Switch 2 ON - SW2");
mglmx 55:aa3baa01f43d 1238 flip_switch(2,5);
carlosperales95 24:1d71dd8778c4 1239 }else if(switch3 == 0){
carlosperales95 24:1d71dd8778c4 1240
carlosperales95 24:1d71dd8778c4 1241 lcd.cls();
carlosperales95 24:1d71dd8778c4 1242 lcd.printf("Switch 3 ON - SW3");
mglmx 55:aa3baa01f43d 1243 flip_switch(3,5);
carlosperales95 24:1d71dd8778c4 1244 }else if(switch4 == 0){
carlosperales95 24:1d71dd8778c4 1245
carlosperales95 24:1d71dd8778c4 1246 lcd.cls();
carlosperales95 24:1d71dd8778c4 1247 lcd.printf("Switch 4 ON - IDLE");
mglmx 55:aa3baa01f43d 1248 flip_switch(0,5);
carlosperales95 24:1d71dd8778c4 1249 }
mglmx 22:e4153ca757dd 1250 }
mglmx 22:e4153ca757dd 1251
carlosperales95 45:d589318238bf 1252
carlosperales95 24:1d71dd8778c4 1253
mglmx 55:aa3baa01f43d 1254
mglmx 55:aa3baa01f43d 1255 /**
mglmx 55:aa3baa01f43d 1256 * Returns a sensor number depending on how many times switch3 flips.
mglmx 55:aa3baa01f43d 1257 * When pressing switch4 it confirms the switch
mglmx 55:aa3baa01f43d 1258 * Init_sensor is the value where we start counting.
mglmx 55:aa3baa01f43d 1259 * string train is the name of the train that will be prited with the sensor
mglmx 55:aa3baa01f43d 1260 */
mglmx 55:aa3baa01f43d 1261 int select_sensor(int init_sensor, string train){
mglmx 55:aa3baa01f43d 1262
mglmx 55:aa3baa01f43d 1263 lcd.cls();
mglmx 57:ee5da8a011e0 1264 lcd.printf("%s SENSOR D%d",train,init_sensor);
mglmx 55:aa3baa01f43d 1265
mglmx 55:aa3baa01f43d 1266 int sensor = init_sensor;
mglmx 52:c08495446f87 1267 bool changed = false;
mglmx 52:c08495446f87 1268 bool exit = false;
mglmx 52:c08495446f87 1269
mglmx 52:c08495446f87 1270 while(!exit){
mglmx 52:c08495446f87 1271 if(switch3 == 0){
mglmx 52:c08495446f87 1272 if(changed){
mglmx 52:c08495446f87 1273 sensor++;
mglmx 52:c08495446f87 1274 sensor=sensor%15; //Only sensors from 0 to 15.
mglmx 52:c08495446f87 1275 changed=false;
mglmx 55:aa3baa01f43d 1276 lcd.cls();
mglmx 55:aa3baa01f43d 1277 lcd.printf("%s: D%d",train,sensor);
mglmx 52:c08495446f87 1278 }
mglmx 62:6fc0c683cb02 1279
carlosperales95 58:b60db1092088 1280 }else{
mglmx 52:c08495446f87 1281 changed = true;
mglmx 55:aa3baa01f43d 1282 wait(0.2);
mglmx 52:c08495446f87 1283 }
mglmx 52:c08495446f87 1284
mglmx 52:c08495446f87 1285 if(switch4 == 0){
mglmx 52:c08495446f87 1286 exit = true;
mglmx 55:aa3baa01f43d 1287 wait(0.2);
mglmx 52:c08495446f87 1288 }
mglmx 52:c08495446f87 1289 }
mglmx 62:6fc0c683cb02 1290
mglmx 52:c08495446f87 1291 return sensor;
mglmx 52:c08495446f87 1292 }
carlosperales95 45:d589318238bf 1293
mglmx 55:aa3baa01f43d 1294 /**
mglmx 55:aa3baa01f43d 1295 * Returns a boolean representing the direction. Everytimew switch3 is 0 it changes the direction.
mglmx 55:aa3baa01f43d 1296 * When switch4 is 0 the selection is confirmed.
mglmx 55:aa3baa01f43d 1297 * Init_going_cw is the initial direction.
mglmx 55:aa3baa01f43d 1298 * Train is the string with the name of the train that will be printed next to the direction
mglmx 55:aa3baa01f43d 1299 */
mglmx 55:aa3baa01f43d 1300 bool select_direction(bool init_going_cw,string train){
mglmx 55:aa3baa01f43d 1301
mglmx 57:ee5da8a011e0 1302 string dir_string;
mglmx 57:ee5da8a011e0 1303
mglmx 57:ee5da8a011e0 1304 if(init_going_cw){
mglmx 57:ee5da8a011e0 1305 dir_string = "cw";
mglmx 57:ee5da8a011e0 1306 }else{
mglmx 57:ee5da8a011e0 1307 dir_string = "ccw";
mglmx 57:ee5da8a011e0 1308 }
mglmx 57:ee5da8a011e0 1309
mglmx 55:aa3baa01f43d 1310 lcd.cls();
mglmx 57:ee5da8a011e0 1311 lcd.printf("%s DIRECTION %s ",train,dir_string);
mglmx 57:ee5da8a011e0 1312
mglmx 55:aa3baa01f43d 1313 bool exit = false;
mglmx 55:aa3baa01f43d 1314 bool going_cw = init_going_cw;
mglmx 55:aa3baa01f43d 1315 bool changed = false;
mglmx 55:aa3baa01f43d 1316
mglmx 55:aa3baa01f43d 1317 while(!exit){
mglmx 55:aa3baa01f43d 1318 if(switch3 == 0){
mglmx 55:aa3baa01f43d 1319 if(changed){
mglmx 55:aa3baa01f43d 1320 going_cw = !going_cw;
mglmx 55:aa3baa01f43d 1321 changed = false;
mglmx 55:aa3baa01f43d 1322 string dir;
mglmx 55:aa3baa01f43d 1323 if(going_cw){
mglmx 55:aa3baa01f43d 1324 dir = "cw";
mglmx 55:aa3baa01f43d 1325 }else{
mglmx 55:aa3baa01f43d 1326 dir = "ccw";
mglmx 55:aa3baa01f43d 1327 }
mglmx 55:aa3baa01f43d 1328 lcd.cls();
mglmx 55:aa3baa01f43d 1329 lcd.printf("%s: %s",train,dir);
mglmx 55:aa3baa01f43d 1330 }
mglmx 55:aa3baa01f43d 1331 }else{
mglmx 55:aa3baa01f43d 1332 changed = true;
mglmx 55:aa3baa01f43d 1333 wait(0.2);
mglmx 55:aa3baa01f43d 1334 }
mglmx 55:aa3baa01f43d 1335
mglmx 55:aa3baa01f43d 1336 if(switch4 == 0){
mglmx 55:aa3baa01f43d 1337 exit = true;
mglmx 55:aa3baa01f43d 1338 wait(0.2);
mglmx 55:aa3baa01f43d 1339 }
mglmx 55:aa3baa01f43d 1340 }
mglmx 62:6fc0c683cb02 1341
mglmx 55:aa3baa01f43d 1342 return going_cw;
mglmx 55:aa3baa01f43d 1343 }
mglmx 55:aa3baa01f43d 1344
carlosperales95 11:021210c59a95 1345 //**************** MAIN PROGRAM FOR DENVER TRAIN ****************//
carlosperales95 11:021210c59a95 1346
carlosperales95 45:d589318238bf 1347
mglmx 1:0ab26889af9b 1348 int main()
mglmx 1:0ab26889af9b 1349 {
carlosperales95 25:a42a1ed4d8e9 1350 //RISE FOR INTERRUPTS?? NOT WORKING ATM
carlosperales95 25:a42a1ed4d8e9 1351 //int0.rise(&interrupt0);
carlosperales95 25:a42a1ed4d8e9 1352 //int1.rise(&interrupt1);
carlosperales95 25:a42a1ed4d8e9 1353
carlosperales95 25:a42a1ed4d8e9 1354 //Read and display potentiometer
carlosperales95 25:a42a1ed4d8e9 1355 //float f = pot.read();
carlosperales95 25:a42a1ed4d8e9 1356 //float vin = f * 3.3;
carlosperales95 25:a42a1ed4d8e9 1357 //lcd.printf("vin: %.4f",vin);
carlosperales95 25:a42a1ed4d8e9 1358
carlosperales95 25:a42a1ed4d8e9 1359 //0xFFFC //1111111111111100
carlosperales95 25:a42a1ed4d8e9 1360
carlosperales95 56:fe999806787d 1361 enable = 0;
carlosperales95 25:a42a1ed4d8e9 1362
carlosperales95 25:a42a1ed4d8e9 1363 //Led routine to start main program
mglmx 2:f580707c44fa 1364 led1 = 1;
mglmx 22:e4153ca757dd 1365 wait(0.2);
mglmx 2:f580707c44fa 1366 led1 = 0;
mglmx 22:e4153ca757dd 1367 wait(0.2);
mglmx 2:f580707c44fa 1368 led1 = 1;
mglmx 16:2a2da0e67793 1369
mglmx 55:aa3baa01f43d 1370 init_positions();
mglmx 55:aa3baa01f43d 1371
carlosperales95 25:a42a1ed4d8e9 1372 initialize_mcp(); //mcp initialization for interrupts before train running
mglmx 33:24ce12dec157 1373 init();
mglmx 57:ee5da8a011e0 1374
mglmx 55:aa3baa01f43d 1375
mglmx 55:aa3baa01f43d 1376 int DR_init_sensor = select_sensor(D9,"DR");
mglmx 55:aa3baa01f43d 1377 bool DR_init_dir = select_direction(false,"DR");
mglmx 55:aa3baa01f43d 1378
mglmx 55:aa3baa01f43d 1379 wait(0.5);
mglmx 55:aa3baa01f43d 1380
mglmx 55:aa3baa01f43d 1381 int LR_init_sensor = select_sensor(D9,"LR");
mglmx 55:aa3baa01f43d 1382 bool LR_init_dir = select_direction(true,"LR");
mglmx 55:aa3baa01f43d 1383
mglmx 55:aa3baa01f43d 1384 DR_train.set_position(DR_init_sensor);
mglmx 55:aa3baa01f43d 1385 DR_train.set_goes_cw(DR_init_dir);
mglmx 55:aa3baa01f43d 1386
mglmx 55:aa3baa01f43d 1387 LR_train.set_position(LR_init_sensor);
mglmx 55:aa3baa01f43d 1388 LR_train.set_goes_cw(LR_init_dir);
mglmx 55:aa3baa01f43d 1389
mglmx 16:2a2da0e67793 1390
mglmx 55:aa3baa01f43d 1391 string DR_print_dir, LR_print_dir;
mglmx 55:aa3baa01f43d 1392
mglmx 55:aa3baa01f43d 1393 if(DR_train.goes_cw()){
mglmx 55:aa3baa01f43d 1394 DR_print_dir = "cw";
mglmx 55:aa3baa01f43d 1395 }else{
mglmx 55:aa3baa01f43d 1396 DR_print_dir = "ccw";
mglmx 55:aa3baa01f43d 1397 }
mglmx 55:aa3baa01f43d 1398
mglmx 55:aa3baa01f43d 1399 if(LR_train.goes_cw()){
mglmx 55:aa3baa01f43d 1400 LR_print_dir = "cw";
mglmx 55:aa3baa01f43d 1401 }else{
mglmx 55:aa3baa01f43d 1402 LR_print_dir = "ccw";
mglmx 55:aa3baa01f43d 1403 }
mglmx 55:aa3baa01f43d 1404
mglmx 55:aa3baa01f43d 1405 lcd.cls();
mglmx 55:aa3baa01f43d 1406 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 1407
mglmx 55:aa3baa01f43d 1408 wait(2);
mglmx 55:aa3baa01f43d 1409
mglmx 43:346a1f4144cd 1410
carlosperales95 25:a42a1ed4d8e9 1411 //Train light routine to start running
mglmx 43:346a1f4144cd 1412 /*
mglmx 32:e5b732fb8e65 1413 DCC_send_command(DCCaddressDR,DCC_func_lighton,200); // turn light on full
mglmx 52:c08495446f87 1414 DCC_send_command(DCCaddressDR,DCC_func_dimlight,400); // dim light
mglmx 52:c08495446f87 1415 DCC_send_command(DCCaddressDR,DCC_func_lighton,200); // light full again
mglmx 43:346a1f4144cd 1416 */
mglmx 57:ee5da8a011e0 1417
mglmx 57:ee5da8a011e0 1418
mglmx 57:ee5da8a011e0 1419
carlosperales95 25:a42a1ed4d8e9 1420 //LED3 Shows start of route + LCD notif
mglmx 22:e4153ca757dd 1421 led3 = 1; // Entering the while
mglmx 22:e4153ca757dd 1422 lcd.cls();
mglmx 22:e4153ca757dd 1423 lcd.printf("Ready to start");
mglmx 55:aa3baa01f43d 1424 wait(1);
carlosperales95 19:ff21ba3a4dc5 1425
mglmx 62:6fc0c683cb02 1426 //init_logger();
mglmx 62:6fc0c683cb02 1427 //train_pos0_log();
mglmx 62:6fc0c683cb02 1428 //logger_add("There we go lads this is the start of the program");
mglmx 62:6fc0c683cb02 1429
carlosperales95 56:fe999806787d 1430 enable = 1;
carlosperales95 56:fe999806787d 1431
mglmx 62:6fc0c683cb02 1432 flip_switch(5,5);//Send IDLE command at the beginning
mglmx 62:6fc0c683cb02 1433 flip_switch(1,5);
mglmx 62:6fc0c683cb02 1434 flip_switch(5,5);
mglmx 62:6fc0c683cb02 1435 flip_switch(2,5);
mglmx 62:6fc0c683cb02 1436 flip_switch(5,5);
mglmx 62:6fc0c683cb02 1437 flip_switch(3,5);
mglmx 62:6fc0c683cb02 1438 flip_switch(5,5);
mglmx 62:6fc0c683cb02 1439 flip_switch(4,5);
mglmx 62:6fc0c683cb02 1440 flip_switch(5,5);
mglmx 62:6fc0c683cb02 1441
carlosperales95 14:7bb998edd819 1442 //Demo for stopping at the station
mglmx 1:0ab26889af9b 1443 while(1) {
mglmx 4:50879dfb82d5 1444
mglmx 55:aa3baa01f43d 1445 checkSwitch(); //Checks for switch commands everytime.
mglmx 55:aa3baa01f43d 1446 check_position();
carlosperales95 25:a42a1ed4d8e9 1447
mglmx 33:24ce12dec157 1448 if(1==0){
mglmx 33:24ce12dec157 1449 //if(station == 1){ //If train is on the sensor at the middle of the station it stops and displays LCD text.
carlosperales95 14:7bb998edd819 1450
mglmx 4:50879dfb82d5 1451 lcd.cls();
carlosperales95 29:559eb2164488 1452 lcd.printf("All aboard\n mind the gap");
mglmx 32:e5b732fb8e65 1453 DCC_send_command(DCCaddressDR,DCCinst_stop,400);
carlosperales95 29:559eb2164488 1454 lcd.cls();
mglmx 4:50879dfb82d5 1455
mglmx 22:e4153ca757dd 1456 }else{
mglmx 57:ee5da8a011e0 1457 DR_train.run();
mglmx 57:ee5da8a011e0 1458 LR_train.run();
mglmx 55:aa3baa01f43d 1459
carlosperales95 25:a42a1ed4d8e9 1460 }
mglmx 1:0ab26889af9b 1461 }
mglmx 3:fe7010b693a0 1462 }