Denver / Mbed 2 deprecated denver_train_proj

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Dependencies:   mbed TextLCD

main.cpp@52:c08495446f87, 2018-06-20 (annotated)

Committer:
mglmx
Date:
Wed Jun 20 12:54:28 2018 +0000
Revision:
52:c08495446f87
Parent:
51:badef9fc202f
Child:
53:1ffd622bab24
Child:
55:aa3baa01f43d
Ommitting when we read the sensor twice.

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 35:cfcfeccb959e 7
mglmx 35:cfcfeccb959e 8 using namespace std;
mglmx 18:aa43bb62e60f 9
mglmx 1:0ab26889af9b 10
carlosperales95 7:e2b8461d4f05 11 /******PINS AND DECLARATIONS*******/
carlosperales95 7:e2b8461d4f05 12
carlosperales95 25:a42a1ed4d8e9 13 //------PINS
mglmx 21:e6f1649add39 14
mglmx 21:e6f1649add39 15 //SWITCHES p5 - p8
mglmx 21:e6f1649add39 16 DigitalIn switch1(p5);
mglmx 21:e6f1649add39 17 DigitalIn switch2(p6);
mglmx 21:e6f1649add39 18 DigitalIn switch3(p7);
mglmx 21:e6f1649add39 19 DigitalIn switch4(p8);
carlosperales95 7:e2b8461d4f05 20
carlosperales95 10:2088b1935a93 21 //RAIL SENSORS - INT0,INT1
carlosperales95 7:e2b8461d4f05 22 //INT0 - p9
mglmx 18:aa43bb62e60f 23 InterruptIn int0(p9);
carlosperales95 7:e2b8461d4f05 24 //INT1 - p10
mglmx 18:aa43bb62e60f 25 InterruptIn int1(p10);
carlosperales95 7:e2b8461d4f05 26
carlosperales95 7:e2b8461d4f05 27 ///p11
carlosperales95 7:e2b8461d4f05 28 ///p12
carlosperales95 12:e914ca5cd44b 29
carlosperales95 7:e2b8461d4f05 30 //M0 - p13
mglmx 35:cfcfeccb959e 31 DigitalIn d21stat(p13); //Sensor right of the station
carlosperales95 7:e2b8461d4f05 32 //M1 - p14
mglmx 35:cfcfeccb959e 33 DigitalIn d22stat(p14); //Sensor left of the station
carlosperales95 7:e2b8461d4f05 34 //M2 - p15
carlosperales95 29:559eb2164488 35 DigitalIn station(p15); //Sensor in the middle of the station
carlosperales95 12:e914ca5cd44b 36
carlosperales95 7:e2b8461d4f05 37 //p16
carlosperales95 50:ee4398ee44be 38 //ENABLE - p17
carlosperales95 50:ee4398ee44be 39 DigitalOut enable(p17);
carlosperales95 12:e914ca5cd44b 40
carlosperales95 11:021210c59a95 41 //BUZZER - p18
carlosperales95 11:021210c59a95 42 DigitalOut buzz(p18); // buzz=0 doesn't beep, buzz=1 beeps
carlosperales95 7:e2b8461d4f05 43
carlosperales95 7:e2b8461d4f05 44 //POTENTIOMETER - p19
carlosperales95 13:dbf1ead12cee 45 AnalogIn pot(p19); //Gives float value pot.read(). Convert analog input to V with f*3.3
carlosperales95 7:e2b8461d4f05 46
carlosperales95 7:e2b8461d4f05 47 //DAT - p20
mglmx 3:fe7010b693a0 48 DigitalOut Track(p20); //Digital output bit used to drive track power via H-bridge
carlosperales95 7:e2b8461d4f05 49
carlosperales95 7:e2b8461d4f05 50 //LCD SCREEN - p21, p22, p23, p24, p25, p26
carlosperales95 11:021210c59a95 51 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 52
carlosperales95 7:e2b8461d4f05 53 ///p27
carlosperales95 7:e2b8461d4f05 54 ///p28
mglmx 33:24ce12dec157 55 I2C i2c(p28,p27);
carlosperales95 7:e2b8461d4f05 56
carlosperales95 7:e2b8461d4f05 57 //LED1 - p29
mglmx 3:fe7010b693a0 58 DigitalOut redled(p29);
carlosperales95 7:e2b8461d4f05 59 //LED2 - p30
mglmx 3:fe7010b693a0 60 DigitalOut greenled(p30);
carlosperales95 7:e2b8461d4f05 61
carlosperales95 24:1d71dd8778c4 62 //MBED LEDS
mglmx 18:aa43bb62e60f 63 DigitalOut led1(LED1);
mglmx 18:aa43bb62e60f 64 DigitalOut led2(LED2);
mglmx 18:aa43bb62e60f 65 DigitalOut led3(LED3);
mglmx 16:2a2da0e67793 66
mglmx 16:2a2da0e67793 67 //MCP
mglmx 16:2a2da0e67793 68 MCP23017 *mcp;
carlosperales95 12:e914ca5cd44b 69
carlosperales95 24:1d71dd8778c4 70
carlosperales95 25:a42a1ed4d8e9 71 //------GLOBAL VARS
carlosperales95 25:a42a1ed4d8e9 72
carlosperales95 38:b9aba3715682 73 //......SENSOR POSITION VARS
carlosperales95 38:b9aba3715682 74
carlosperales95 45:d589318238bf 75 //Definition of D sensors, will be interpreted as ints for the program's logic
mglmx 34:c9ab2a987734 76 #define D0 0
mglmx 34:c9ab2a987734 77 #define D1 1
mglmx 34:c9ab2a987734 78 #define D2 2
mglmx 34:c9ab2a987734 79 #define D3 3
mglmx 34:c9ab2a987734 80 #define D4 4
mglmx 34:c9ab2a987734 81 #define D5 5
mglmx 34:c9ab2a987734 82 #define D6 6
mglmx 34:c9ab2a987734 83 #define D7 7
mglmx 34:c9ab2a987734 84 #define D8 8
mglmx 34:c9ab2a987734 85 #define D9 9
mglmx 34:c9ab2a987734 86 #define D10 10
mglmx 34:c9ab2a987734 87 #define D11 11
mglmx 34:c9ab2a987734 88 #define D12 12
mglmx 34:c9ab2a987734 89 #define D13 13
mglmx 34:c9ab2a987734 90 #define D21 14
mglmx 34:c9ab2a987734 91 #define D22 15
mglmx 34:c9ab2a987734 92
mglmx 41:4fa6aa29d1ed 93
carlosperales95 38:b9aba3715682 94 /**
carlosperales95 38:b9aba3715682 95 *
carlosperales95 38:b9aba3715682 96 *Position class.
carlosperales95 38:b9aba3715682 97 *
carlosperales95 38:b9aba3715682 98 *@position -
carlosperales95 38:b9aba3715682 99 *@previous_cw -
carlosperales95 38:b9aba3715682 100 *@previous_ccw -
carlosperales95 38:b9aba3715682 101 *
carlosperales95 38:b9aba3715682 102 *Position(int) -
carlosperales95 38:b9aba3715682 103 *
carlosperales95 38:b9aba3715682 104 *get_pos() -
carlosperales95 38:b9aba3715682 105 *get_prev_cw() -
carlosperales95 38:b9aba3715682 106 *get_ccw() -
carlosperales95 38:b9aba3715682 107 *add_prev_cw() -
carlosperales95 38:b9aba3715682 108 *add_ccw() -
carlosperales95 38:b9aba3715682 109 *
carlosperales95 38:b9aba3715682 110 **/
mglmx 35:cfcfeccb959e 111 class Position{
mglmx 35:cfcfeccb959e 112 private:
mglmx 35:cfcfeccb959e 113 int position;
mglmx 35:cfcfeccb959e 114 vector <int> previous_cw;
mglmx 35:cfcfeccb959e 115 vector <int> previous_ccw;
mglmx 35:cfcfeccb959e 116 public:
mglmx 35:cfcfeccb959e 117 Position(int p){
mglmx 35:cfcfeccb959e 118 position = p;
mglmx 35:cfcfeccb959e 119 }
mglmx 36:9428c72bdd58 120
mglmx 36:9428c72bdd58 121 int get_pos(){
mglmx 36:9428c72bdd58 122 return position;
mglmx 36:9428c72bdd58 123 }
mglmx 41:4fa6aa29d1ed 124
mglmx 41:4fa6aa29d1ed 125 vector<int> get_next_cw(){
mglmx 41:4fa6aa29d1ed 126 return previous_ccw;
mglmx 41:4fa6aa29d1ed 127 }
mglmx 41:4fa6aa29d1ed 128
mglmx 41:4fa6aa29d1ed 129 vector<int> get_next_ccw(){
mglmx 41:4fa6aa29d1ed 130 return previous_cw;
mglmx 41:4fa6aa29d1ed 131 }
carlosperales95 25:a42a1ed4d8e9 132
mglmx 35:cfcfeccb959e 133 vector <int> get_prev_cw(){
mglmx 35:cfcfeccb959e 134 return previous_cw;
mglmx 35:cfcfeccb959e 135 }
mglmx 35:cfcfeccb959e 136
mglmx 35:cfcfeccb959e 137 vector <int> get_prev_ccw(){
mglmx 35:cfcfeccb959e 138 return previous_ccw;
mglmx 35:cfcfeccb959e 139 }
mglmx 35:cfcfeccb959e 140
mglmx 35:cfcfeccb959e 141 void add_prev_cw(int pos){
mglmx 35:cfcfeccb959e 142 previous_cw.push_back(pos);
mglmx 35:cfcfeccb959e 143 };
mglmx 35:cfcfeccb959e 144
mglmx 35:cfcfeccb959e 145 void add_prev_ccw(int pos){
mglmx 35:cfcfeccb959e 146 previous_ccw.push_back(pos);
mglmx 35:cfcfeccb959e 147 };
mglmx 35:cfcfeccb959e 148 };
mglmx 35:cfcfeccb959e 149
carlosperales95 45:d589318238bf 150
mglmx 41:4fa6aa29d1ed 151 //Creating a vector with all the positions.
mglmx 41:4fa6aa29d1ed 152 vector<Position> positions;
mglmx 41:4fa6aa29d1ed 153
carlosperales95 45:d589318238bf 154
carlosperales95 45:d589318238bf 155 /**
carlosperales95 45:d589318238bf 156 *
carlosperales95 45:d589318238bf 157 *Train class.
carlosperales95 45:d589318238bf 158 *
carlosperales95 45:d589318238bf 159 *@position -
carlosperales95 45:d589318238bf 160 *@going_cw -
carlosperales95 45:d589318238bf 161 *
carlosperales95 45:d589318238bf 162 *Train(int, bool) -
carlosperales95 45:d589318238bf 163 *Train(bool) -
carlosperales95 45:d589318238bf 164 *
carlosperales95 45:d589318238bf 165 *Vector get_next_sensors() -
carlosperales95 45:d589318238bf 166 *set_position(int) -
carlosperales95 45:d589318238bf 167 *set_goes_cw(bool) -
carlosperales95 45:d589318238bf 168 *Position get_position() -
carlosperales95 45:d589318238bf 169 *Int get_position_number() -
carlosperales95 45:d589318238bf 170 *Bool goes_cw() -
carlosperales95 45:d589318238bf 171 *
carlosperales95 45:d589318238bf 172 **/
mglmx 41:4fa6aa29d1ed 173 class Train{
carlosperales95 45:d589318238bf 174
mglmx 41:4fa6aa29d1ed 175 private:
mglmx 41:4fa6aa29d1ed 176 Position *position;
mglmx 41:4fa6aa29d1ed 177 bool going_cw;
carlosperales95 45:d589318238bf 178
mglmx 41:4fa6aa29d1ed 179 public:
mglmx 41:4fa6aa29d1ed 180 Train(int pos, bool cw){
carlosperales95 45:d589318238bf 181
mglmx 41:4fa6aa29d1ed 182 position = &positions[pos];
mglmx 41:4fa6aa29d1ed 183 going_cw = cw;
mglmx 41:4fa6aa29d1ed 184 }
carlosperales95 45:d589318238bf 185
carlosperales95 45:d589318238bf 186 Train(bool cw){ going_cw = cw; }
mglmx 41:4fa6aa29d1ed 187
mglmx 41:4fa6aa29d1ed 188 vector<int> get_next_sensors(){
mglmx 41:4fa6aa29d1ed 189
mglmx 41:4fa6aa29d1ed 190 //Checking direction
mglmx 41:4fa6aa29d1ed 191 if(going_cw){
carlosperales95 45:d589318238bf 192
mglmx 43:346a1f4144cd 193 return position->get_next_cw();
mglmx 41:4fa6aa29d1ed 194 }else{
carlosperales95 45:d589318238bf 195
mglmx 43:346a1f4144cd 196 return position->get_next_ccw();
mglmx 41:4fa6aa29d1ed 197 }
mglmx 41:4fa6aa29d1ed 198 }
mglmx 41:4fa6aa29d1ed 199
mglmx 41:4fa6aa29d1ed 200 void set_position(int pos){
carlosperales95 45:d589318238bf 201
mglmx 41:4fa6aa29d1ed 202 position = &positions[pos]; //Taking the new position from the positions vector
mglmx 41:4fa6aa29d1ed 203 }
mglmx 41:4fa6aa29d1ed 204
mglmx 41:4fa6aa29d1ed 205 void set_goes_cw(bool cw){
carlosperales95 45:d589318238bf 206
mglmx 41:4fa6aa29d1ed 207 going_cw = cw;
mglmx 41:4fa6aa29d1ed 208 }
mglmx 41:4fa6aa29d1ed 209
mglmx 41:4fa6aa29d1ed 210 Position get_position(){
carlosperales95 45:d589318238bf 211
mglmx 41:4fa6aa29d1ed 212 return *position;
mglmx 41:4fa6aa29d1ed 213 }
mglmx 41:4fa6aa29d1ed 214
mglmx 41:4fa6aa29d1ed 215 int get_position_number(){
carlosperales95 45:d589318238bf 216
mglmx 41:4fa6aa29d1ed 217 return position->get_pos();
mglmx 41:4fa6aa29d1ed 218 }
mglmx 41:4fa6aa29d1ed 219
mglmx 41:4fa6aa29d1ed 220 bool goes_cw(){
carlosperales95 45:d589318238bf 221
mglmx 41:4fa6aa29d1ed 222 return going_cw;
mglmx 41:4fa6aa29d1ed 223 }
mglmx 41:4fa6aa29d1ed 224 };
mglmx 41:4fa6aa29d1ed 225
carlosperales95 45:d589318238bf 226
carlosperales95 38:b9aba3715682 227 //Creation of all the positions. One for every sensor on the table - Position name(mapping)
mglmx 35:cfcfeccb959e 228 Position d0(D0);
mglmx 35:cfcfeccb959e 229 Position d1(D1);
mglmx 35:cfcfeccb959e 230 Position d2(D2);
mglmx 35:cfcfeccb959e 231 Position d3(D3);
mglmx 35:cfcfeccb959e 232 Position d4(D4);
mglmx 35:cfcfeccb959e 233 Position d5(D5);
mglmx 35:cfcfeccb959e 234 Position d6(D6);
mglmx 35:cfcfeccb959e 235 Position d7(D7);
mglmx 35:cfcfeccb959e 236 Position d8(D8);
mglmx 35:cfcfeccb959e 237 Position d9(D9);
mglmx 35:cfcfeccb959e 238 Position d10(D10);
mglmx 35:cfcfeccb959e 239 Position d11(D11);
mglmx 35:cfcfeccb959e 240 Position d12(D12);
mglmx 35:cfcfeccb959e 241 Position d13(D13);
mglmx 35:cfcfeccb959e 242 Position d21(D21);
mglmx 35:cfcfeccb959e 243 Position d22(D22);
mglmx 35:cfcfeccb959e 244
carlosperales95 45:d589318238bf 245 /**
carlosperales95 45:d589318238bf 246 *Defining areas for train detection and collision logic.
carlosperales95 45:d589318238bf 247 *area_A_arr/area_B_arr - Arrays that hold the Dsensors for each area, used to initialize the vectors.
carlosperales95 45:d589318238bf 248 *area_A/area_B - Vectors that hold the different sensors of the corresponding areas of the track.
carlosperales95 45:d589318238bf 249 **/
mglmx 43:346a1f4144cd 250 int area_A_arr[] = {D21,D2,D22,D1,D0,D13,D12};
mglmx 43:346a1f4144cd 251 int area_B_arr[] = {D6,D7,D8};
mglmx 43:346a1f4144cd 252
mglmx 43:346a1f4144cd 253 const vector<int> area_A(area_A_arr,area_A_arr + sizeof(area_A_arr) / sizeof(int));
mglmx 43:346a1f4144cd 254 const vector<int> area_B(area_B_arr,area_B_arr + sizeof(area_B_arr) / sizeof(int));
mglmx 43:346a1f4144cd 255
mglmx 41:4fa6aa29d1ed 256
mglmx 35:cfcfeccb959e 257
carlosperales95 25:a42a1ed4d8e9 258 //.....DCC TRAIN COMMAND VARS
carlosperales95 25:a42a1ed4d8e9 259
carlosperales95 25:a42a1ed4d8e9 260 //typical out of box default engine DCC address is 3 (at least for Bachmann trains)
carlosperales95 25:a42a1ed4d8e9 261 //Note: A DCC controller can reprogram the address whenever needed
mglmx 32:e5b732fb8e65 262 const unsigned int DCCaddressDR = 0x01; //Address for train 1 DARK-RED
mglmx 32:e5b732fb8e65 263 const unsigned int DCCaddressLR = 0x03; //Address for train 3 LIGHT-RED
carlosperales95 25:a42a1ed4d8e9 264
carlosperales95 25:a42a1ed4d8e9 265 //01DCSSSS for speed, D is direction (fwd=1 and rev=0), C is speed(SSSSC) LSB
carlosperales95 25:a42a1ed4d8e9 266 const unsigned int DCCinst_forward = 0x68; //forward half speed
mglmx 51:badef9fc202f 267 const unsigned int DCCinst_forward_slow = 0x66; //forward slow speed (step 9)
mglmx 51:badef9fc202f 268 const unsigned int DCCinst_forward_fast = 0x6C; //Forward fast speed (step 22)
mglmx 51:badef9fc202f 269 const unsigned int DCCinst_forward_full = 0x6F; //Forward full speed
carlosperales95 25:a42a1ed4d8e9 270 const unsigned int DCCinst_reverse = 0x48; //reverse half speed
carlosperales95 25:a42a1ed4d8e9 271 const unsigned int DCCinst_stop = 0x50; //stop the train
carlosperales95 25:a42a1ed4d8e9 272
carlosperales95 25:a42a1ed4d8e9 273 //100DDDDD for basic headlight functions
carlosperales95 25:a42a1ed4d8e9 274 const unsigned int DCC_func_lighton = 0x90; //F0 turns on headlight function
carlosperales95 25:a42a1ed4d8e9 275 const unsigned int DCC_func_dimlight = 0x91; //F0 + F1 dims headlight
carlosperales95 25:a42a1ed4d8e9 276
carlosperales95 25:a42a1ed4d8e9 277
carlosperales95 25:a42a1ed4d8e9 278 //.....SWITCH COMMAND VARS
carlosperales95 25:a42a1ed4d8e9 279
carlosperales95 25:a42a1ed4d8e9 280 const unsigned int SWBaddress = 0x06; //Address for switch box
carlosperales95 25:a42a1ed4d8e9 281
carlosperales95 25:a42a1ed4d8e9 282 //100DDDDD where DDDDD is the switch command and 100 is constant:
carlosperales95 25:a42a1ed4d8e9 283
carlosperales95 25:a42a1ed4d8e9 284 //00001(F1 active)-00010(F2 active)-00100(F3 active)-01000(F4 active)
carlosperales95 25:a42a1ed4d8e9 285 //Example - 111111 0 00000101 0 10000000 0 10000101 1 - idle
carlosperales95 25:a42a1ed4d8e9 286 const unsigned int SWBidle = 0x80; //IDLE - Flip last activated SW.
carlosperales95 25:a42a1ed4d8e9 287 const unsigned int SWBflip_1 = 0x81; //Flip SW1
carlosperales95 25:a42a1ed4d8e9 288 const unsigned int SWBflip_2 = 0x82; //Flip SW2
carlosperales95 25:a42a1ed4d8e9 289 const unsigned int SWBflip_3 = 0x84; //Flip SW3
carlosperales95 25:a42a1ed4d8e9 290 const unsigned int SWBflip_4 = 0x88; //Flip SW4
carlosperales95 25:a42a1ed4d8e9 291
carlosperales95 40:9acc1341456a 292
carlosperales95 45:d589318238bf 293 /**
carlosperales95 45:d589318238bf 294 *Creation of 2 Train objects.
carlosperales95 45:d589318238bf 295 *Using boolean constructor because position initialization will be done after initializing all position vectors.
carlosperales95 45:d589318238bf 296 *DR_train = Dark Red train - LR_train = Light Red Train
carlosperales95 45:d589318238bf 297 **/
mglmx 52:c08495446f87 298 Train DR_train(false); //Position and going_cw
mglmx 43:346a1f4144cd 299 Train LR_train(true);
mglmx 43:346a1f4144cd 300
carlosperales95 47:e992a129ef44 301 //possibility of an array having {dr_train, lr_train}? for reuse and modularity of functions
carlosperales95 47:e992a129ef44 302
carlosperales95 47:e992a129ef44 303
carlosperales95 45:d589318238bf 304 /**
carlosperales95 45:d589318238bf 305 *Booleans that will determine if the train should be moving or not.
carlosperales95 45:d589318238bf 306 *Booleans will switch to false to stop any of the trains and avoid collisions.
carlosperales95 45:d589318238bf 307 *DR_run - Boolean for DR_train / LR_run - Boolean for LR_train
carlosperales95 45:d589318238bf 308 **/
mglmx 43:346a1f4144cd 309 bool DR_run = true;
mglmx 43:346a1f4144cd 310 bool LR_run = true;
mglmx 18:aa43bb62e60f 311
carlosperales95 38:b9aba3715682 312
carlosperales95 45:d589318238bf 313
carlosperales95 38:b9aba3715682 314 //**************** FUNCTIONS FOR DENVER TRAIN ****************//
carlosperales95 38:b9aba3715682 315
carlosperales95 38:b9aba3715682 316
mglmx 22:e4153ca757dd 317 /**
carlosperales95 45:d589318238bf 318 *
carlosperales95 25:a42a1ed4d8e9 319 *Activates the buzzer for 0.5 seconds.
carlosperales95 45:d589318238bf 320 *
mglmx 22:e4153ca757dd 321 **/
mglmx 22:e4153ca757dd 322 void doBuzz(){
carlosperales95 25:a42a1ed4d8e9 323
mglmx 22:e4153ca757dd 324 buzz = 1;
mglmx 22:e4153ca757dd 325 wait(0.5);
mglmx 22:e4153ca757dd 326 buzz = 0;
mglmx 22:e4153ca757dd 327 }
mglmx 18:aa43bb62e60f 328
carlosperales95 45:d589318238bf 329
carlosperales95 45:d589318238bf 330 /**
carlosperales95 45:d589318238bf 331 *
carlosperales95 47:e992a129ef44 332 *Initializes every position's vectors (prev_cw and prev_ccw) with the corresponding sensors.
carlosperales95 47:e992a129ef44 333 *prev_cw - Sensors previous to the current in clockwise sense.
carlosperales95 47:e992a129ef44 334 *prev_ccw - Sensors previous to the current in counter-clockwise sense.
carlosperales95 45:d589318238bf 335 *
carlosperales95 45:d589318238bf 336 **/
mglmx 35:cfcfeccb959e 337 void init_positions(){
mglmx 36:9428c72bdd58 338
mglmx 35:cfcfeccb959e 339 d0.add_prev_cw(D1);
mglmx 35:cfcfeccb959e 340 d0.add_prev_ccw(D13);
mglmx 35:cfcfeccb959e 341
mglmx 35:cfcfeccb959e 342 d1.add_prev_cw(D22);
mglmx 35:cfcfeccb959e 343 d1.add_prev_ccw(D0);
mglmx 35:cfcfeccb959e 344
mglmx 35:cfcfeccb959e 345 d22.add_prev_cw(D2);
mglmx 35:cfcfeccb959e 346 d22.add_prev_ccw(D1);
mglmx 35:cfcfeccb959e 347
mglmx 35:cfcfeccb959e 348 d2.add_prev_cw(D21);
mglmx 35:cfcfeccb959e 349 d2.add_prev_ccw(D22);
mglmx 35:cfcfeccb959e 350
mglmx 35:cfcfeccb959e 351 d21.add_prev_cw(D3);
mglmx 35:cfcfeccb959e 352 d21.add_prev_cw(D4);
mglmx 35:cfcfeccb959e 353 d21.add_prev_ccw(D2);
mglmx 35:cfcfeccb959e 354
mglmx 35:cfcfeccb959e 355 d3.add_prev_cw(D9);
mglmx 35:cfcfeccb959e 356 d3.add_prev_ccw(D21);
mglmx 35:cfcfeccb959e 357
mglmx 35:cfcfeccb959e 358 d4.add_prev_cw(D6);
mglmx 35:cfcfeccb959e 359 d4.add_prev_ccw(D21);
mglmx 35:cfcfeccb959e 360
mglmx 35:cfcfeccb959e 361 d5.add_prev_cw(D6);
mglmx 35:cfcfeccb959e 362 d5.add_prev_ccw(D11);
mglmx 35:cfcfeccb959e 363
mglmx 35:cfcfeccb959e 364 d6.add_prev_cw(D7);
mglmx 35:cfcfeccb959e 365 d6.add_prev_ccw(D4);
mglmx 35:cfcfeccb959e 366 d6.add_prev_ccw(D5);
mglmx 35:cfcfeccb959e 367
mglmx 35:cfcfeccb959e 368 d7.add_prev_cw(D8);
mglmx 35:cfcfeccb959e 369 d7.add_prev_ccw(D6);
mglmx 35:cfcfeccb959e 370
mglmx 36:9428c72bdd58 371 d8.add_prev_cw(D9);
mglmx 36:9428c72bdd58 372 d8.add_prev_cw(D10);
mglmx 36:9428c72bdd58 373 d8.add_prev_ccw(D7);
mglmx 36:9428c72bdd58 374
mglmx 35:cfcfeccb959e 375 d9.add_prev_cw(D3);
mglmx 35:cfcfeccb959e 376 d9.add_prev_ccw(D8);
mglmx 35:cfcfeccb959e 377
mglmx 35:cfcfeccb959e 378 d10.add_prev_cw(D12);
mglmx 35:cfcfeccb959e 379 d10.add_prev_ccw(D8);
mglmx 35:cfcfeccb959e 380
mglmx 35:cfcfeccb959e 381 d11.add_prev_cw(D12);
mglmx 35:cfcfeccb959e 382 d11.add_prev_ccw(D5);
mglmx 35:cfcfeccb959e 383
mglmx 35:cfcfeccb959e 384 d12.add_prev_cw(D13);
mglmx 35:cfcfeccb959e 385 d12.add_prev_ccw(D10);
mglmx 35:cfcfeccb959e 386 d12.add_prev_ccw(D11);
mglmx 35:cfcfeccb959e 387
mglmx 35:cfcfeccb959e 388 d13.add_prev_cw(D0);
mglmx 35:cfcfeccb959e 389 d13.add_prev_ccw(D12);
mglmx 36:9428c72bdd58 390
mglmx 36:9428c72bdd58 391 //Initialize array with positions
mglmx 36:9428c72bdd58 392 positions.push_back(d0);
mglmx 36:9428c72bdd58 393 positions.push_back(d1);
mglmx 36:9428c72bdd58 394 positions.push_back(d2);
mglmx 36:9428c72bdd58 395 positions.push_back(d3);
mglmx 36:9428c72bdd58 396 positions.push_back(d4);
mglmx 36:9428c72bdd58 397 positions.push_back(d5);
mglmx 36:9428c72bdd58 398 positions.push_back(d6);
mglmx 36:9428c72bdd58 399 positions.push_back(d7);
mglmx 36:9428c72bdd58 400 positions.push_back(d8);
mglmx 36:9428c72bdd58 401 positions.push_back(d9);
mglmx 36:9428c72bdd58 402 positions.push_back(d10);
mglmx 36:9428c72bdd58 403 positions.push_back(d11);
mglmx 36:9428c72bdd58 404 positions.push_back(d12);
mglmx 36:9428c72bdd58 405 positions.push_back(d13);
mglmx 36:9428c72bdd58 406 positions.push_back(d21);
mglmx 36:9428c72bdd58 407 positions.push_back(d22);
mglmx 35:cfcfeccb959e 408 }
carlosperales95 24:1d71dd8778c4 409
carlosperales95 45:d589318238bf 410
mglmx 22:e4153ca757dd 411 /**
carlosperales95 24:1d71dd8778c4 412 *
carlosperales95 28:71bd4c83c05f 413 *Here we initialize the mcp that will be used to manage the interrupts.
carlosperales95 25:a42a1ed4d8e9 414 *
carlosperales95 24:1d71dd8778c4 415 **/
mglmx 18:aa43bb62e60f 416 void initialize_mcp(){
mglmx 33:24ce12dec157 417 mcp = new MCP23017(i2c,0x40); //Connect to SCL - p28 and SDA - p27 and MPC I2C address 0x40
mglmx 18:aa43bb62e60f 418
mglmx 33:24ce12dec157 419 mcp->_write(IODIRA, (unsigned char )0xff);
mglmx 33:24ce12dec157 420 mcp->_write(IODIRB, (unsigned char )0xff);
mglmx 33:24ce12dec157 421 mcp->_write(IPOLA, (unsigned char )0x00);
mglmx 33:24ce12dec157 422 mcp->_write(IPOLB, (unsigned char )0x00);
mglmx 33:24ce12dec157 423 mcp->_write(DEFVALA, (unsigned char )0xff);
mglmx 33:24ce12dec157 424 mcp->_write(DEFVALB, (unsigned char )0xff);
mglmx 33:24ce12dec157 425 mcp->_write(INTCONA, (unsigned char )0xff);
mglmx 33:24ce12dec157 426 mcp->_write(INTCONB, (unsigned char )0xff);
mglmx 33:24ce12dec157 427 mcp->_write(IOCONA, (unsigned char )0x2);
mglmx 33:24ce12dec157 428 mcp->_write(IOCONB, (unsigned char )0x2);
mglmx 33:24ce12dec157 429 mcp->_write(GPPUA, (unsigned char )0xff);
mglmx 33:24ce12dec157 430 mcp->_write(GPPUB, (unsigned char )0xff);
mglmx 33:24ce12dec157 431
mglmx 18:aa43bb62e60f 432 }
mglmx 18:aa43bb62e60f 433
carlosperales95 45:d589318238bf 434
carlosperales95 24:1d71dd8778c4 435 /**
carlosperales95 24:1d71dd8778c4 436 *
carlosperales95 37:bb15bea420a3 437 *Returns the number of the sensor where the train was detected.
carlosperales95 37:bb15bea420a3 438 *
carlosperales95 47:e992a129ef44 439 *@number -
carlosperales95 47:e992a129ef44 440 *@interrupt -
carlosperales95 47:e992a129ef44 441 *
carlosperales95 37:bb15bea420a3 442 **/
mglmx 34:c9ab2a987734 443 int get_sensor(unsigned int number,int interrupt){
carlosperales95 45:d589318238bf 444
mglmx 34:c9ab2a987734 445 int sensor = -1;
mglmx 34:c9ab2a987734 446
carlosperales95 37:bb15bea420a3 447 for(int i=0; i<8; i++){
mglmx 34:c9ab2a987734 448
carlosperales95 45:d589318238bf 449 if(~number & 1<<i){
carlosperales95 45:d589318238bf 450
mglmx 34:c9ab2a987734 451 sensor = i;
mglmx 34:c9ab2a987734 452 }
mglmx 34:c9ab2a987734 453 }
mglmx 34:c9ab2a987734 454
mglmx 34:c9ab2a987734 455 if(interrupt == 1){
carlosperales95 45:d589318238bf 456
carlosperales95 37:bb15bea420a3 457 sensor+= 8; // Sensors caught by interreupt1 are identified from 8 to 15.
mglmx 34:c9ab2a987734 458 }
carlosperales95 45:d589318238bf 459
mglmx 34:c9ab2a987734 460 return sensor;
mglmx 34:c9ab2a987734 461 }
mglmx 34:c9ab2a987734 462
carlosperales95 45:d589318238bf 463
carlosperales95 45:d589318238bf 464 /**
carlosperales95 45:d589318238bf 465 *
carlosperales95 47:e992a129ef44 466 *Checks if the element exists within the vector.
carlosperales95 45:d589318238bf 467 *
carlosperales95 47:e992a129ef44 468 *@v - The vector (of ints) the method will go through.
carlosperales95 47:e992a129ef44 469 *@element - The element the method will look for.
carlosperales95 45:d589318238bf 470 *
carlosperales95 45:d589318238bf 471 **/
mglmx 43:346a1f4144cd 472 bool in_vector(vector<int>v,int element){
carlosperales95 45:d589318238bf 473
mglmx 43:346a1f4144cd 474 bool exist = false;
mglmx 43:346a1f4144cd 475
mglmx 43:346a1f4144cd 476 for(int i=0; i< v.size(); i++){
carlosperales95 45:d589318238bf 477
mglmx 43:346a1f4144cd 478 if(v[i] == element){
carlosperales95 45:d589318238bf 479
mglmx 43:346a1f4144cd 480 exist = true;
mglmx 43:346a1f4144cd 481 }
carlosperales95 47:e992a129ef44 482 }
mglmx 43:346a1f4144cd 483 return exist;
mglmx 43:346a1f4144cd 484 }
mglmx 43:346a1f4144cd 485
carlosperales95 45:d589318238bf 486
carlosperales95 42:b445252a772a 487 /**
carlosperales95 47:e992a129ef44 488 *This method will checks if there is a non-avoidable frontal collision(NAFC).
carlosperales95 47:e992a129ef44 489 *A NAFC will happen if:
carlosperales95 47:e992a129ef44 490 *
carlosperales95 47:e992a129ef44 491 *Both trains in area A or B with different direction
carlosperales95 47:e992a129ef44 492 *Trains in (D11 and D5) or (D9 and D3) with same direction
carlosperales95 47:e992a129ef44 493 *
mglmx 43:346a1f4144cd 494 */
mglmx 43:346a1f4144cd 495 bool check_NAC(bool DR_in_A, bool DR_in_B,bool LR_in_A,bool LR_in_B){
carlosperales95 45:d589318238bf 496
mglmx 43:346a1f4144cd 497 bool NAC = false;
mglmx 43:346a1f4144cd 498
mglmx 43:346a1f4144cd 499 if((DR_in_A && LR_in_A) || (DR_in_B && LR_in_B) ){ //Check if both are in same area
carlosperales95 45:d589318238bf 500
mglmx 43:346a1f4144cd 501 if(DR_train.goes_cw() ^ LR_train.goes_cw()){ //XOR: They must have different values to be true (Different direction)
carlosperales95 45:d589318238bf 502
mglmx 43:346a1f4144cd 503 NAC = true;
mglmx 43:346a1f4144cd 504 }
mglmx 43:346a1f4144cd 505 }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 506
mglmx 43:346a1f4144cd 507 if(!(DR_train.goes_cw() ^ LR_train.goes_cw())){ // NOT XOR: They must have same values to be true (Same direction)
carlosperales95 45:d589318238bf 508
mglmx 43:346a1f4144cd 509 NAC = true;
mglmx 43:346a1f4144cd 510 }
mglmx 43:346a1f4144cd 511 }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 512
mglmx 43:346a1f4144cd 513 if(!(DR_train.goes_cw() ^ LR_train.goes_cw())){ // NOT XOR: They must have same values to be true (Same direction)
carlosperales95 45:d589318238bf 514
mglmx 43:346a1f4144cd 515 NAC = true;
mglmx 43:346a1f4144cd 516 }
mglmx 43:346a1f4144cd 517 }
carlosperales95 45:d589318238bf 518 return NAC;
mglmx 43:346a1f4144cd 519 }
mglmx 43:346a1f4144cd 520
carlosperales95 45:d589318238bf 521
mglmx 43:346a1f4144cd 522 /**
carlosperales95 47:e992a129ef44 523 *
carlosperales95 47:e992a129ef44 524 *CThe function will check if there is an Avoidable Frontal Collision (AFC).
carlosperales95 47:e992a129ef44 525 *AFC will occur if:
carlosperales95 47:e992a129ef44 526 *
carlosperales95 47:e992a129ef44 527 *Train in area A(ccw) and train in D4(cw)
carlosperales95 47:e992a129ef44 528 *Train in area A(cw) and train in D10(ccw)
carlosperales95 47:e992a129ef44 529 *Train in area B(cw) and train in D4(ccw)
carlosperales95 47:e992a129ef44 530 *Train in area B(ccw) and train in D10(ccw)
carlosperales95 47:e992a129ef44 531 *
carlosperales95 46:7a0933676b13 532 **/
carlosperales95 46:7a0933676b13 533 bool check_AFC(bool DR_in_A, bool DR_in_B,bool LR_in_A,bool LR_in_B){ //TODO - Add same for LR train
carlosperales95 45:d589318238bf 534
carlosperales95 45:d589318238bf 535 if( DR_train.get_position_number() == D4){
carlosperales95 45:d589318238bf 536
mglmx 43:346a1f4144cd 537 if(DR_train.goes_cw()){
carlosperales95 45:d589318238bf 538
mglmx 43:346a1f4144cd 539 if(LR_in_A && !LR_train.goes_cw()){
carlosperales95 45:d589318238bf 540
mglmx 43:346a1f4144cd 541 //Activate switch2
mglmx 43:346a1f4144cd 542 //DR_train has to stop
mglmx 43:346a1f4144cd 543 //When LR is at D3 DR continues
mglmx 43:346a1f4144cd 544 }
mglmx 43:346a1f4144cd 545 }else{ //DR goes ccw
carlosperales95 45:d589318238bf 546
mglmx 43:346a1f4144cd 547 if(LR_in_B && LR_train.goes_cw()){
carlosperales95 45:d589318238bf 548
mglmx 43:346a1f4144cd 549 //DR_train stops
mglmx 43:346a1f4144cd 550 //Activate switch3
mglmx 43:346a1f4144cd 551 //When LR is at D5 DR continues
mglmx 43:346a1f4144cd 552 }
mglmx 43:346a1f4144cd 553 }
mglmx 43:346a1f4144cd 554
mglmx 43:346a1f4144cd 555 }else if(DR_train.get_position_number() == D10){
carlosperales95 45:d589318238bf 556
mglmx 43:346a1f4144cd 557 if(DR_train.goes_cw()){
carlosperales95 45:d589318238bf 558
mglmx 43:346a1f4144cd 559 if(LR_in_B && !LR_train.goes_cw()){
carlosperales95 45:d589318238bf 560
mglmx 43:346a1f4144cd 561 //DR train stops
mglmx 43:346a1f4144cd 562 //Activate switch4
mglmx 43:346a1f4144cd 563 //When LR is at D9 DR continues
mglmx 43:346a1f4144cd 564 }
mglmx 43:346a1f4144cd 565 }else{
carlosperales95 45:d589318238bf 566
mglmx 43:346a1f4144cd 567 if(LR_in_A && LR_train.goes_cw()){
carlosperales95 45:d589318238bf 568
mglmx 43:346a1f4144cd 569 //DR train stops
mglmx 43:346a1f4144cd 570 //Activate switch1
mglmx 43:346a1f4144cd 571 //When LR is at D9 DR continues
mglmx 43:346a1f4144cd 572 }
mglmx 43:346a1f4144cd 573 }
mglmx 43:346a1f4144cd 574 }
mglmx 43:346a1f4144cd 575 }
mglmx 43:346a1f4144cd 576
carlosperales95 45:d589318238bf 577
carlosperales95 45:d589318238bf 578 /**
carlosperales95 45:d589318238bf 579 *
carlosperales95 47:e992a129ef44 580 *The method check_position will check if any of the trains is in any of the areas.
carlosperales95 47:e992a129ef44 581 *It will go through all the area vectors (A,B) and call the function in_vector to check inside the vectors.
carlosperales95 45:d589318238bf 582 *
carlosperales95 45:d589318238bf 583 **/
mglmx 43:346a1f4144cd 584 void check_position(){
carlosperales95 45:d589318238bf 585
mglmx 43:346a1f4144cd 586 bool DR_in_A, DR_in_B, LR_in_A, LR_in_B;
mglmx 43:346a1f4144cd 587
carlosperales95 47:e992a129ef44 588 DR_in_A = in_vector(area_A,DR_train.get_position_number()); //Check if DR train is in area A
carlosperales95 47:e992a129ef44 589 DR_in_B = in_vector(area_B,DR_train.get_position_number());
carlosperales95 47:e992a129ef44 590 LR_in_A = in_vector(area_A,LR_train.get_position_number());
carlosperales95 47:e992a129ef44 591 LR_in_B = in_vector(area_B,LR_train.get_position_number());
mglmx 43:346a1f4144cd 592
mglmx 43:346a1f4144cd 593 }
mglmx 43:346a1f4144cd 594
carlosperales95 45:d589318238bf 595
carlosperales95 45:d589318238bf 596 /**
carlosperales95 45:d589318238bf 597 *
carlosperales95 47:e992a129ef44 598 *Description
carlosperales95 45:d589318238bf 599 *
carlosperales95 47:e992a129ef44 600 *@sensor -
carlosperales95 45:d589318238bf 601 *
carlosperales95 45:d589318238bf 602 **/
mglmx 35:cfcfeccb959e 603 void update_train_pos(int sensor){
mglmx 52:c08495446f87 604 led2 = 1;
mglmx 41:4fa6aa29d1ed 605
mglmx 35:cfcfeccb959e 606 bool found_DR = false;
mglmx 41:4fa6aa29d1ed 607 bool found_LR = false;
mglmx 41:4fa6aa29d1ed 608
mglmx 49:880c0b9c9c64 609 string DR_dir,LR_dir;
mglmx 49:880c0b9c9c64 610
mglmx 49:880c0b9c9c64 611 if(DR_train.goes_cw()){
mglmx 49:880c0b9c9c64 612 DR_dir = "cw";
mglmx 49:880c0b9c9c64 613 }else{
mglmx 49:880c0b9c9c64 614 DR_dir = "ccw";
mglmx 49:880c0b9c9c64 615 }
mglmx 49:880c0b9c9c64 616
mglmx 49:880c0b9c9c64 617 if(LR_train.goes_cw()){
mglmx 49:880c0b9c9c64 618 LR_dir = "cw";
mglmx 49:880c0b9c9c64 619 }else{
mglmx 49:880c0b9c9c64 620 LR_dir = "ccw";
mglmx 49:880c0b9c9c64 621 }
mglmx 49:880c0b9c9c64 622
mglmx 49:880c0b9c9c64 623
mglmx 41:4fa6aa29d1ed 624 lcd.cls();
mglmx 52:c08495446f87 625 lcd.printf("S:D%d DR%d(",sensor,DR_train.get_position_number());
mglmx 43:346a1f4144cd 626
mglmx 43:346a1f4144cd 627 //TODO: Do a for to print all next sensors.
mglmx 43:346a1f4144cd 628 for(int i=0; i<DR_train.get_next_sensors().size(); i++){
carlosperales95 45:d589318238bf 629
mglmx 43:346a1f4144cd 630 lcd.printf("%d,",DR_train.get_next_sensors()[i]);
mglmx 43:346a1f4144cd 631 }
carlosperales95 45:d589318238bf 632
mglmx 52:c08495446f87 633 lcd.printf(")%s LR%d(",DR_dir,LR_train.get_position_number());
mglmx 43:346a1f4144cd 634
carlosperales95 45:d589318238bf 635 for(int i=0; i<LR_train.get_next_sensors().size(); i++){
carlosperales95 45:d589318238bf 636
mglmx 43:346a1f4144cd 637 lcd.printf("%d,",LR_train.get_next_sensors()[i]);
mglmx 43:346a1f4144cd 638 }
carlosperales95 45:d589318238bf 639
mglmx 49:880c0b9c9c64 640 lcd.printf(")%s",LR_dir);
mglmx 52:c08495446f87 641 //wait(0.7);
mglmx 41:4fa6aa29d1ed 642
mglmx 52:c08495446f87 643 if(sensor == DR_train.get_position_number()){
mglmx 52:c08495446f87 644 led2 = 0;
mglmx 52:c08495446f87 645 //lcd.cls();
mglmx 52:c08495446f87 646 //lcd.printf("Sensor TWICE!!");
mglmx 52:c08495446f87 647 }else{
mglmx 52:c08495446f87 648 //Checking next sensors for DR train
mglmx 43:346a1f4144cd 649 for(int i=0; i<DR_train.get_next_sensors().size(); i++){
mglmx 41:4fa6aa29d1ed 650
mglmx 41:4fa6aa29d1ed 651 if(DR_train.get_next_sensors()[i] == sensor){ //If the sensor is one expected to visit by the train we update the position
carlosperales95 45:d589318238bf 652
mglmx 41:4fa6aa29d1ed 653 found_DR = true;
mglmx 49:880c0b9c9c64 654
carlosperales95 37:bb15bea420a3 655
mglmx 41:4fa6aa29d1ed 656 if(DR_train.goes_cw()){
mglmx 48:553716e13d45 657 if(DR_train.get_position_number() == D5 || DR_train.get_position_number() == D11){
mglmx 48:553716e13d45 658
mglmx 41:4fa6aa29d1ed 659 DR_train.set_goes_cw(false); //If train goes cw and passes D5 or D11 we change orientation
mglmx 41:4fa6aa29d1ed 660 }
mglmx 41:4fa6aa29d1ed 661 }else{
carlosperales95 45:d589318238bf 662
mglmx 48:553716e13d45 663 if(DR_train.get_position_number() == D9 || DR_train.get_position_number() == D3){
carlosperales95 45:d589318238bf 664
mglmx 41:4fa6aa29d1ed 665 DR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation
mglmx 41:4fa6aa29d1ed 666 }
mglmx 49:880c0b9c9c64 667 }
mglmx 49:880c0b9c9c64 668
mglmx 52:c08495446f87 669 DR_train.set_position(sensor);
mglmx 52:c08495446f87 670
mglmx 41:4fa6aa29d1ed 671 }
mglmx 41:4fa6aa29d1ed 672 }
mglmx 41:4fa6aa29d1ed 673
mglmx 41:4fa6aa29d1ed 674 //Checking next sensors for LR train
mglmx 41:4fa6aa29d1ed 675 for(int i=0; i<LR_train.get_next_sensors().size(); i++){
mglmx 43:346a1f4144cd 676
mglmx 41:4fa6aa29d1ed 677 if(LR_train.get_next_sensors()[i] == sensor){
carlosperales95 45:d589318238bf 678
mglmx 41:4fa6aa29d1ed 679 found_LR = true;
mglmx 49:880c0b9c9c64 680
carlosperales95 45:d589318238bf 681 if(LR_train.goes_cw()){
mglmx 48:553716e13d45 682
mglmx 49:880c0b9c9c64 683 if(LR_train.get_position_number() == D5 || LR_train.get_position_number() == D11){
mglmx 41:4fa6aa29d1ed 684 LR_train.set_goes_cw(false); //If train goes cw and passes D5 or D11 we change orientation
mglmx 41:4fa6aa29d1ed 685 }
mglmx 41:4fa6aa29d1ed 686 }else{
mglmx 49:880c0b9c9c64 687
mglmx 49:880c0b9c9c64 688 if(LR_train.get_position_number() == D9 || LR_train.get_position_number() == D3 ){
carlosperales95 45:d589318238bf 689
mglmx 41:4fa6aa29d1ed 690 LR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation
mglmx 41:4fa6aa29d1ed 691 }
mglmx 49:880c0b9c9c64 692 }
mglmx 52:c08495446f87 693 LR_train.set_position(sensor);
mglmx 52:c08495446f87 694
mglmx 41:4fa6aa29d1ed 695 }
mglmx 41:4fa6aa29d1ed 696 }
mglmx 52:c08495446f87 697 }
mglmx 52:c08495446f87 698
mglmx 52:c08495446f87 699
mglmx 41:4fa6aa29d1ed 700
mglmx 52:c08495446f87 701 /*
mglmx 35:cfcfeccb959e 702 if(found_DR){
carlosperales95 45:d589318238bf 703
mglmx 36:9428c72bdd58 704 //doBuzz();
mglmx 35:cfcfeccb959e 705 lcd.cls();
mglmx 41:4fa6aa29d1ed 706 lcd.printf("DR is at D%d",DR_train.get_position_number());
mglmx 35:cfcfeccb959e 707 }
carlosperales95 45:d589318238bf 708
mglmx 35:cfcfeccb959e 709 if(found_LR){
carlosperales95 40:9acc1341456a 710
carlosperales95 37:bb15bea420a3 711 lcd.cls();
mglmx 41:4fa6aa29d1ed 712 lcd.printf("LR is at D%d",LR_train.get_position_number());
mglmx 35:cfcfeccb959e 713 }
carlosperales95 45:d589318238bf 714
mglmx 35:cfcfeccb959e 715 if(!found_DR && !found_LR){
carlosperales95 45:d589318238bf 716
mglmx 35:cfcfeccb959e 717 lcd.cls();
mglmx 35:cfcfeccb959e 718 lcd.printf("No train before :(");
mglmx 35:cfcfeccb959e 719 }
mglmx 52:c08495446f87 720 */
mglmx 35:cfcfeccb959e 721 }
mglmx 35:cfcfeccb959e 722
carlosperales95 37:bb15bea420a3 723
mglmx 34:c9ab2a987734 724 /**
mglmx 34:c9ab2a987734 725 *
carlosperales95 25:a42a1ed4d8e9 726 *Method to catch interrupts 0
carlosperales95 25:a42a1ed4d8e9 727 *
carlosperales95 24:1d71dd8778c4 728 **/
mglmx 33:24ce12dec157 729 void on_int0_change(){
carlosperales95 25:a42a1ed4d8e9 730
mglmx 33:24ce12dec157 731 wait_us(2000);
mglmx 33:24ce12dec157 732 int sensor_data = mcp->_read(INTCAPA);
mglmx 34:c9ab2a987734 733 int sensor = get_sensor(sensor_data,0);
mglmx 17:0a657e338356 734 lcd.cls();
mglmx 34:c9ab2a987734 735 lcd.printf("int0 0x%x \n Sensor: %d",sensor_data,sensor);
mglmx 41:4fa6aa29d1ed 736
mglmx 35:cfcfeccb959e 737 update_train_pos(sensor);
mglmx 16:2a2da0e67793 738 }
mglmx 16:2a2da0e67793 739
mglmx 35:cfcfeccb959e 740
carlosperales95 24:1d71dd8778c4 741 /**
carlosperales95 24:1d71dd8778c4 742 *
carlosperales95 25:a42a1ed4d8e9 743 *Method to catch interrupts 1
carlosperales95 25:a42a1ed4d8e9 744 *
carlosperales95 24:1d71dd8778c4 745 **/
mglmx 33:24ce12dec157 746 void on_int1_change(){
carlosperales95 25:a42a1ed4d8e9 747
mglmx 33:24ce12dec157 748 wait_us(2000);
mglmx 33:24ce12dec157 749 int sensor_data = mcp->_read(INTCAPB);
mglmx 34:c9ab2a987734 750 int sensor = get_sensor(sensor_data,1);
mglmx 33:24ce12dec157 751 lcd.cls();
mglmx 34:c9ab2a987734 752 lcd.printf("int1 0x%x \n Sensor: %d",sensor_data,sensor);
mglmx 35:cfcfeccb959e 753
mglmx 35:cfcfeccb959e 754 update_train_pos(sensor);
mglmx 16:2a2da0e67793 755 }
mglmx 26:5c966a0a3e8e 756
carlosperales95 45:d589318238bf 757 /**
carlosperales95 45:d589318238bf 758 *
carlosperales95 47:e992a129ef44 759 *Clear current interrupts
carlosperales95 45:d589318238bf 760 *
carlosperales95 45:d589318238bf 761 **/
carlosperales95 47:e992a129ef44 762 void init() {
mglmx 26:5c966a0a3e8e 763
mglmx 33:24ce12dec157 764 mcp->_read(GPIOA);
mglmx 33:24ce12dec157 765 mcp->_read(GPIOB); // Register callbacks
mglmx 33:24ce12dec157 766 int0.fall(&on_int0_change);
mglmx 33:24ce12dec157 767 int1.fall(&on_int1_change); // Enable interrupts on MCP
mglmx 33:24ce12dec157 768 mcp->_write(GPINTENA, (unsigned char )0xff);
mglmx 33:24ce12dec157 769 mcp->_write(GPINTENB, (unsigned char )0xff); // Ready to go!
mglmx 33:24ce12dec157 770 }
mglmx 33:24ce12dec157 771
mglmx 33:24ce12dec157 772
carlosperales95 24:1d71dd8778c4 773 /**
carlosperales95 24:1d71dd8778c4 774 *
carlosperales95 25:a42a1ed4d8e9 775 *Method to send DCC commands to train and switches.
carlosperales95 25:a42a1ed4d8e9 776 *
carlosperales95 25:a42a1ed4d8e9 777 *@address - (HEX)Address where the commands will be sent
carlosperales95 25:a42a1ed4d8e9 778 *@inst - (HEX)Number of instruction that will be commanded
carlosperales95 25:a42a1ed4d8e9 779 *@repeat_count - Number of times the command will be sent
carlosperales95 25:a42a1ed4d8e9 780 *
carlosperales95 24:1d71dd8778c4 781 **/
carlosperales95 45:d589318238bf 782 void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count){
carlosperales95 45:d589318238bf 783
mglmx 1:0ab26889af9b 784 unsigned __int64 command = 0x0000000000000000; // __int64 is the 64-bit integer type
mglmx 1:0ab26889af9b 785 unsigned __int64 temp_command = 0x0000000000000000;
mglmx 1:0ab26889af9b 786 unsigned __int64 prefix = 0x3FFF; // 14 "1" bits needed at start
mglmx 1:0ab26889af9b 787 unsigned int error = 0x00; //error byte
carlosperales95 24:1d71dd8778c4 788
mglmx 1:0ab26889af9b 789 //calculate error detection byte with xor
mglmx 1:0ab26889af9b 790 error = address ^ inst;
carlosperales95 24:1d71dd8778c4 791
mglmx 1:0ab26889af9b 792 //combine packet bits in basic DCC format
mglmx 1:0ab26889af9b 793 command = (prefix<<28)|(address<<19)|(inst<<10)|((error)<<1)|0x01;
mglmx 1:0ab26889af9b 794 //printf("\n\r %llx \n\r",command);
carlosperales95 24:1d71dd8778c4 795
mglmx 1:0ab26889af9b 796 int i=0;
carlosperales95 24:1d71dd8778c4 797 //repeat DCC command lots of times
mglmx 1:0ab26889af9b 798 while(i < repeat_count) {
carlosperales95 24:1d71dd8778c4 799
mglmx 1:0ab26889af9b 800 temp_command = command;
carlosperales95 24:1d71dd8778c4 801 //loops through packet bits encoding and sending out digital pulses for a DCC command
mglmx 1:0ab26889af9b 802 for (int j=0; j<64; j++) {
carlosperales95 24:1d71dd8778c4 803
carlosperales95 24:1d71dd8778c4 804 if((temp_command&0x8000000000000000)==0) {
carlosperales95 24:1d71dd8778c4 805 //test packet bit
mglmx 1:0ab26889af9b 806 //send data for a "0" bit
mglmx 1:0ab26889af9b 807 Track=0;
mglmx 1:0ab26889af9b 808 wait_us(100);
mglmx 1:0ab26889af9b 809 Track=1;
mglmx 1:0ab26889af9b 810 wait_us(100);
mglmx 1:0ab26889af9b 811 //printf("0011");
carlosperales95 24:1d71dd8778c4 812 }else{
carlosperales95 24:1d71dd8778c4 813
mglmx 1:0ab26889af9b 814 //send data for a "1"bit
mglmx 1:0ab26889af9b 815 Track=0;
mglmx 1:0ab26889af9b 816 wait_us(58);
mglmx 1:0ab26889af9b 817 Track=1;
mglmx 1:0ab26889af9b 818 wait_us(58);
mglmx 1:0ab26889af9b 819 //printf("01");
mglmx 1:0ab26889af9b 820 }
mglmx 1:0ab26889af9b 821 // next bit in packet
mglmx 1:0ab26889af9b 822 temp_command = temp_command<<1;
mglmx 1:0ab26889af9b 823 }
mglmx 1:0ab26889af9b 824 i++;
mglmx 0:4d06a6a8e785 825 }
mglmx 0:4d06a6a8e785 826 }
carlosperales95 11:021210c59a95 827
carlosperales95 24:1d71dd8778c4 828
carlosperales95 24:1d71dd8778c4 829 /**
carlosperales95 24:1d71dd8778c4 830 *
carlosperales95 25:a42a1ed4d8e9 831 *Method to flip the switches
carlosperales95 25:a42a1ed4d8e9 832 *
carlosperales95 25:a42a1ed4d8e9 833 *@switchId - (1-4)The ID of the switch we want to flip
carlosperales95 25:a42a1ed4d8e9 834 *@times - The number of times we want to send the command
mglmx 30:293ee760d357 835 *@activate - True if the switch is going to be activated. False if it needs to go back to rest position.
carlosperales95 25:a42a1ed4d8e9 836 *
carlosperales95 24:1d71dd8778c4 837 **/
mglmx 30:293ee760d357 838 void flipSwitch(int switchId, int times, bool activate=true){
mglmx 21:e6f1649add39 839
carlosperales95 25:a42a1ed4d8e9 840 unsigned int SWBflip = SWBidle; //IDLE - Flip last activated SW.
mglmx 21:e6f1649add39 841
mglmx 21:e6f1649add39 842 switch(switchId){
carlosperales95 45:d589318238bf 843
mglmx 21:e6f1649add39 844 case 1:
carlosperales95 25:a42a1ed4d8e9 845 SWBflip = SWBflip_1; //FLIP SW1
mglmx 21:e6f1649add39 846 break;
carlosperales95 45:d589318238bf 847
mglmx 21:e6f1649add39 848 case 2:
carlosperales95 25:a42a1ed4d8e9 849 SWBflip = SWBflip_2; //FLIP SW2
mglmx 21:e6f1649add39 850 break;
carlosperales95 45:d589318238bf 851
mglmx 21:e6f1649add39 852 case 3:
carlosperales95 25:a42a1ed4d8e9 853 SWBflip = SWBflip_3; //FLIP SW3
mglmx 21:e6f1649add39 854 break;
carlosperales95 45:d589318238bf 855
mglmx 21:e6f1649add39 856 case 4:
carlosperales95 25:a42a1ed4d8e9 857 SWBflip = SWBflip_4; //FLIP SW4
mglmx 21:e6f1649add39 858 break;
carlosperales95 45:d589318238bf 859
mglmx 21:e6f1649add39 860 default:
carlosperales95 24:1d71dd8778c4 861 break;
mglmx 21:e6f1649add39 862 }
carlosperales95 11:021210c59a95 863
mglmx 21:e6f1649add39 864 //Security measure not to burn the switch.
mglmx 30:293ee760d357 865 if(times <=5){
carlosperales95 45:d589318238bf 866
mglmx 30:293ee760d357 867 DCC_send_command(SWBaddress,SWBflip,times); //Activating switch
mglmx 30:293ee760d357 868 if(!activate){
carlosperales95 45:d589318238bf 869
mglmx 30:293ee760d357 870 DCC_send_command(SWBaddress,SWBidle,times); //Sending IDLE to flip back.
mglmx 30:293ee760d357 871 }
mglmx 30:293ee760d357 872 }
mglmx 21:e6f1649add39 873 }
mglmx 21:e6f1649add39 874
mglmx 22:e4153ca757dd 875
carlosperales95 24:1d71dd8778c4 876 /**
carlosperales95 24:1d71dd8778c4 877 *
carlosperales95 29:559eb2164488 878 *Checks if any of the switches of the box has been activated.
carlosperales95 29:559eb2164488 879 *Calls necessary function and displays LCD text.
carlosperales95 25:a42a1ed4d8e9 880 *
carlosperales95 24:1d71dd8778c4 881 **/
mglmx 21:e6f1649add39 882 void checkSwitch(){
carlosperales95 24:1d71dd8778c4 883
mglmx 22:e4153ca757dd 884 if(switch1 == 1){
carlosperales95 24:1d71dd8778c4 885
mglmx 22:e4153ca757dd 886 lcd.cls();
mglmx 22:e4153ca757dd 887 lcd.printf("Switch 1 ON - SW1");
carlosperales95 25:a42a1ed4d8e9 888 flipSwitch(1,5);
mglmx 22:e4153ca757dd 889 }else if(switch2 == 1){
carlosperales95 24:1d71dd8778c4 890
carlosperales95 24:1d71dd8778c4 891 lcd.cls();
carlosperales95 24:1d71dd8778c4 892 lcd.printf("Switch 2 ON - SW2");
carlosperales95 24:1d71dd8778c4 893 flipSwitch(2,5);
carlosperales95 24:1d71dd8778c4 894 }else if(switch3 == 0){
carlosperales95 24:1d71dd8778c4 895
carlosperales95 24:1d71dd8778c4 896 lcd.cls();
carlosperales95 24:1d71dd8778c4 897 lcd.printf("Switch 3 ON - SW3");
carlosperales95 45:d589318238bf 898 flipSwitch(3,5);
carlosperales95 24:1d71dd8778c4 899 }else if(switch4 == 0){
carlosperales95 24:1d71dd8778c4 900
carlosperales95 24:1d71dd8778c4 901 lcd.cls();
carlosperales95 24:1d71dd8778c4 902 lcd.printf("Switch 4 ON - IDLE");
carlosperales95 24:1d71dd8778c4 903 flipSwitch(0,5);
carlosperales95 24:1d71dd8778c4 904 }
mglmx 22:e4153ca757dd 905 }
mglmx 22:e4153ca757dd 906
carlosperales95 45:d589318238bf 907
carlosperales95 45:d589318238bf 908 /**
carlosperales95 45:d589318238bf 909 *
carlosperales95 45:d589318238bf 910 *
carlosperales95 45:d589318238bf 911 *
carlosperales95 45:d589318238bf 912 **/
mglmx 43:346a1f4144cd 913 void send_command(){
carlosperales95 45:d589318238bf 914
mglmx 43:346a1f4144cd 915 if(DR_run){
carlosperales95 45:d589318238bf 916
mglmx 43:346a1f4144cd 917 DCC_send_command(DCCaddressDR,DCCinst_forward,1); // Forward half speed train addres DARK-RED
mglmx 43:346a1f4144cd 918 }else{
carlosperales95 45:d589318238bf 919
mglmx 43:346a1f4144cd 920 DCC_send_command(DCCaddressDR,DCCinst_stop,400);
mglmx 43:346a1f4144cd 921 }
mglmx 43:346a1f4144cd 922
mglmx 43:346a1f4144cd 923 if(LR_run){
carlosperales95 45:d589318238bf 924
mglmx 52:c08495446f87 925 DCC_send_command(DCCaddressLR,DCCinst_forward_fast,1); // Forward half speed train addres DARK-RED
mglmx 43:346a1f4144cd 926 }else{
carlosperales95 45:d589318238bf 927
mglmx 43:346a1f4144cd 928 DCC_send_command(DCCaddressLR,DCCinst_stop,400);
mglmx 43:346a1f4144cd 929 }
mglmx 43:346a1f4144cd 930 }
carlosperales95 24:1d71dd8778c4 931
mglmx 52:c08495446f87 932 int select_sensor(){
mglmx 52:c08495446f87 933 int sensor = 0;
mglmx 52:c08495446f87 934 bool changed = false;
mglmx 52:c08495446f87 935 bool exit = false;
mglmx 52:c08495446f87 936
mglmx 52:c08495446f87 937 while(!exit){
mglmx 52:c08495446f87 938 if(switch3 == 0){
mglmx 52:c08495446f87 939 if(changed){
mglmx 52:c08495446f87 940 sensor++;
mglmx 52:c08495446f87 941 sensor=sensor%15; //Only sensors from 0 to 15.
mglmx 52:c08495446f87 942 changed=false;
mglmx 52:c08495446f87 943 }
mglmx 52:c08495446f87 944
mglmx 52:c08495446f87 945 }else{
mglmx 52:c08495446f87 946 changed = true;
mglmx 52:c08495446f87 947 }
mglmx 52:c08495446f87 948
mglmx 52:c08495446f87 949 if(switch4 == 0){
mglmx 52:c08495446f87 950 exit = true;
mglmx 52:c08495446f87 951 }
mglmx 52:c08495446f87 952 }
mglmx 52:c08495446f87 953
mglmx 52:c08495446f87 954 return sensor;
mglmx 52:c08495446f87 955 }
carlosperales95 45:d589318238bf 956
carlosperales95 11:021210c59a95 957 //**************** MAIN PROGRAM FOR DENVER TRAIN ****************//
carlosperales95 11:021210c59a95 958
carlosperales95 45:d589318238bf 959
mglmx 1:0ab26889af9b 960 int main()
mglmx 1:0ab26889af9b 961 {
carlosperales95 25:a42a1ed4d8e9 962 //RISE FOR INTERRUPTS?? NOT WORKING ATM
carlosperales95 25:a42a1ed4d8e9 963 //int0.rise(&interrupt0);
carlosperales95 25:a42a1ed4d8e9 964 //int1.rise(&interrupt1);
carlosperales95 25:a42a1ed4d8e9 965
carlosperales95 25:a42a1ed4d8e9 966 //Read and display potentiometer
carlosperales95 25:a42a1ed4d8e9 967 //float f = pot.read();
carlosperales95 25:a42a1ed4d8e9 968 //float vin = f * 3.3;
carlosperales95 25:a42a1ed4d8e9 969 //lcd.printf("vin: %.4f",vin);
carlosperales95 25:a42a1ed4d8e9 970
carlosperales95 25:a42a1ed4d8e9 971 //0xFFFC //1111111111111100
carlosperales95 25:a42a1ed4d8e9 972
carlosperales95 50:ee4398ee44be 973 enable = 1;
carlosperales95 25:a42a1ed4d8e9 974
carlosperales95 25:a42a1ed4d8e9 975 //Led routine to start main program
mglmx 2:f580707c44fa 976 led1 = 1;
mglmx 22:e4153ca757dd 977 wait(0.2);
mglmx 2:f580707c44fa 978 led1 = 0;
mglmx 22:e4153ca757dd 979 wait(0.2);
mglmx 2:f580707c44fa 980 led1 = 1;
mglmx 16:2a2da0e67793 981
carlosperales95 25:a42a1ed4d8e9 982 initialize_mcp(); //mcp initialization for interrupts before train running
mglmx 33:24ce12dec157 983 init();
mglmx 35:cfcfeccb959e 984 init_positions();
mglmx 16:2a2da0e67793 985
mglmx 52:c08495446f87 986 DR_train.set_position(D10);
mglmx 52:c08495446f87 987 LR_train.set_position(D4);
mglmx 43:346a1f4144cd 988
carlosperales95 25:a42a1ed4d8e9 989 //Train light routine to start running
mglmx 43:346a1f4144cd 990 /*
mglmx 32:e5b732fb8e65 991 DCC_send_command(DCCaddressDR,DCC_func_lighton,200); // turn light on full
mglmx 52:c08495446f87 992 DCC_send_command(DCCaddressDR,DCC_func_dimlight,400); // dim light
mglmx 52:c08495446f87 993 DCC_send_command(DCCaddressDR,DCC_func_lighton,200); // light full again
mglmx 43:346a1f4144cd 994 */
mglmx 22:e4153ca757dd 995
carlosperales95 25:a42a1ed4d8e9 996 //LED3 Shows start of route + LCD notif
mglmx 22:e4153ca757dd 997 led3 = 1; // Entering the while
mglmx 22:e4153ca757dd 998 lcd.cls();
mglmx 22:e4153ca757dd 999 lcd.printf("Ready to start");
carlosperales95 19:ff21ba3a4dc5 1000
carlosperales95 14:7bb998edd819 1001 //Demo for stopping at the station
mglmx 1:0ab26889af9b 1002 while(1) {
mglmx 4:50879dfb82d5 1003
carlosperales95 25:a42a1ed4d8e9 1004 checkSwitch(); //Checks for switch commands everytime.
carlosperales95 25:a42a1ed4d8e9 1005
mglmx 33:24ce12dec157 1006 if(1==0){
mglmx 33:24ce12dec157 1007 //if(station == 1){ //If train is on the sensor at the middle of the station it stops and displays LCD text.
carlosperales95 14:7bb998edd819 1008
mglmx 4:50879dfb82d5 1009 lcd.cls();
carlosperales95 29:559eb2164488 1010 lcd.printf("All aboard\n mind the gap");
mglmx 32:e5b732fb8e65 1011 DCC_send_command(DCCaddressDR,DCCinst_stop,400);
carlosperales95 29:559eb2164488 1012 lcd.cls();
mglmx 4:50879dfb82d5 1013
mglmx 22:e4153ca757dd 1014 }else{
mglmx 43:346a1f4144cd 1015 send_command();
carlosperales95 25:a42a1ed4d8e9 1016 }
mglmx 1:0ab26889af9b 1017 }
mglmx 3:fe7010b693a0 1018 }