Denver / Mbed 2 deprecated denver_train_proj

Denver trai project

Dependencies:   mbed TextLCD

main.cpp@57:ee5da8a011e0, 2018-06-21 (annotated)

Committer:
mglmx
Date:
Thu Jun 21 15:39:05 2018 +0000
Revision:
57:ee5da8a011e0
Parent:
56:fe999806787d
Child:
58:b60db1092088
Child:
60:a1b987ad45fb
changes thursday

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
mglmx 57:ee5da8a011e0 94 #define STOP 0
mglmx 57:ee5da8a011e0 95 #define SLOW 1
mglmx 57:ee5da8a011e0 96 #define MEDIUM 2
mglmx 57:ee5da8a011e0 97 #define FAST 3
mglmx 57:ee5da8a011e0 98 #define FULL 4
mglmx 57:ee5da8a011e0 99 #define R_MEDIUM 5
mglmx 55:aa3baa01f43d 100
mglmx 55:aa3baa01f43d 101
carlosperales95 38:b9aba3715682 102 /**
carlosperales95 38:b9aba3715682 103 *
carlosperales95 38:b9aba3715682 104 *Position class.
carlosperales95 38:b9aba3715682 105 *
carlosperales95 38:b9aba3715682 106 *@position -
carlosperales95 38:b9aba3715682 107 *@previous_cw -
carlosperales95 38:b9aba3715682 108 *@previous_ccw -
carlosperales95 38:b9aba3715682 109 *
carlosperales95 38:b9aba3715682 110 *Position(int) -
carlosperales95 38:b9aba3715682 111 *
carlosperales95 38:b9aba3715682 112 *get_pos() -
carlosperales95 38:b9aba3715682 113 *get_prev_cw() -
carlosperales95 38:b9aba3715682 114 *get_ccw() -
carlosperales95 38:b9aba3715682 115 *add_prev_cw() -
carlosperales95 38:b9aba3715682 116 *add_ccw() -
carlosperales95 38:b9aba3715682 117 *
carlosperales95 38:b9aba3715682 118 **/
mglmx 35:cfcfeccb959e 119 class Position{
mglmx 35:cfcfeccb959e 120 private:
mglmx 35:cfcfeccb959e 121 int position;
mglmx 35:cfcfeccb959e 122 vector <int> previous_cw;
mglmx 35:cfcfeccb959e 123 vector <int> previous_ccw;
mglmx 35:cfcfeccb959e 124 public:
mglmx 35:cfcfeccb959e 125 Position(int p){
mglmx 35:cfcfeccb959e 126 position = p;
mglmx 35:cfcfeccb959e 127 }
mglmx 36:9428c72bdd58 128
mglmx 36:9428c72bdd58 129 int get_pos(){
mglmx 36:9428c72bdd58 130 return position;
mglmx 36:9428c72bdd58 131 }
mglmx 41:4fa6aa29d1ed 132
mglmx 41:4fa6aa29d1ed 133 vector<int> get_next_cw(){
mglmx 41:4fa6aa29d1ed 134 return previous_ccw;
mglmx 41:4fa6aa29d1ed 135 }
mglmx 41:4fa6aa29d1ed 136
mglmx 41:4fa6aa29d1ed 137 vector<int> get_next_ccw(){
mglmx 41:4fa6aa29d1ed 138 return previous_cw;
mglmx 41:4fa6aa29d1ed 139 }
carlosperales95 25:a42a1ed4d8e9 140
mglmx 35:cfcfeccb959e 141 vector <int> get_prev_cw(){
mglmx 35:cfcfeccb959e 142 return previous_cw;
mglmx 35:cfcfeccb959e 143 }
mglmx 35:cfcfeccb959e 144
mglmx 35:cfcfeccb959e 145 vector <int> get_prev_ccw(){
mglmx 35:cfcfeccb959e 146 return previous_ccw;
mglmx 35:cfcfeccb959e 147 }
mglmx 35:cfcfeccb959e 148
mglmx 35:cfcfeccb959e 149 void add_prev_cw(int pos){
mglmx 35:cfcfeccb959e 150 previous_cw.push_back(pos);
mglmx 35:cfcfeccb959e 151 };
mglmx 35:cfcfeccb959e 152
mglmx 35:cfcfeccb959e 153 void add_prev_ccw(int pos){
mglmx 35:cfcfeccb959e 154 previous_ccw.push_back(pos);
mglmx 35:cfcfeccb959e 155 };
mglmx 35:cfcfeccb959e 156 };
mglmx 35:cfcfeccb959e 157
carlosperales95 45:d589318238bf 158
mglmx 41:4fa6aa29d1ed 159 //Creating a vector with all the positions.
mglmx 41:4fa6aa29d1ed 160 vector<Position> positions;
mglmx 41:4fa6aa29d1ed 161
carlosperales95 45:d589318238bf 162
carlosperales95 45:d589318238bf 163 /**
carlosperales95 45:d589318238bf 164 *
mglmx 57:ee5da8a011e0 165 *Method to send DCC commands to train and switches.
mglmx 57:ee5da8a011e0 166 *
mglmx 57:ee5da8a011e0 167 *@address - (HEX)Address where the commands will be sent
mglmx 57:ee5da8a011e0 168 *@inst - (HEX)Number of instruction that will be commanded
mglmx 57:ee5da8a011e0 169 *@repeat_count - Number of times the command will be sent
mglmx 57:ee5da8a011e0 170 *
mglmx 57:ee5da8a011e0 171 **/
mglmx 57:ee5da8a011e0 172 void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count){
mglmx 57:ee5da8a011e0 173
mglmx 57:ee5da8a011e0 174 unsigned __int64 command = 0x0000000000000000; // __int64 is the 64-bit integer type
mglmx 57:ee5da8a011e0 175 unsigned __int64 temp_command = 0x0000000000000000;
mglmx 57:ee5da8a011e0 176 unsigned __int64 prefix = 0x3FFF; // 14 "1" bits needed at start
mglmx 57:ee5da8a011e0 177 unsigned int error = 0x00; //error byte
mglmx 57:ee5da8a011e0 178
mglmx 57:ee5da8a011e0 179 //calculate error detection byte with xor
mglmx 57:ee5da8a011e0 180 error = address ^ inst;
mglmx 57:ee5da8a011e0 181
mglmx 57:ee5da8a011e0 182 //combine packet bits in basic DCC format
mglmx 57:ee5da8a011e0 183 command = (prefix<<28)|(address<<19)|(inst<<10)|((error)<<1)|0x01;
mglmx 57:ee5da8a011e0 184 //printf("\n\r %llx \n\r",command);
mglmx 57:ee5da8a011e0 185
mglmx 57:ee5da8a011e0 186 int i=0;
mglmx 57:ee5da8a011e0 187 //repeat DCC command lots of times
mglmx 57:ee5da8a011e0 188 while(i < repeat_count) {
mglmx 57:ee5da8a011e0 189
mglmx 57:ee5da8a011e0 190 temp_command = command;
mglmx 57:ee5da8a011e0 191 //loops through packet bits encoding and sending out digital pulses for a DCC command
mglmx 57:ee5da8a011e0 192 for (int j=0; j<64; j++) {
mglmx 57:ee5da8a011e0 193
mglmx 57:ee5da8a011e0 194 if((temp_command&0x8000000000000000)==0) {
mglmx 57:ee5da8a011e0 195 //test packet bit
mglmx 57:ee5da8a011e0 196 //send data for a "0" bit
mglmx 57:ee5da8a011e0 197 Track=0;
mglmx 57:ee5da8a011e0 198 wait_us(100);
mglmx 57:ee5da8a011e0 199 Track=1;
mglmx 57:ee5da8a011e0 200 wait_us(100);
mglmx 57:ee5da8a011e0 201 //printf("0011");
mglmx 57:ee5da8a011e0 202 }else{
mglmx 57:ee5da8a011e0 203
mglmx 57:ee5da8a011e0 204 //send data for a "1"bit
mglmx 57:ee5da8a011e0 205 Track=0;
mglmx 57:ee5da8a011e0 206 wait_us(58);
mglmx 57:ee5da8a011e0 207 Track=1;
mglmx 57:ee5da8a011e0 208 wait_us(58);
mglmx 57:ee5da8a011e0 209 //printf("01");
mglmx 57:ee5da8a011e0 210 }
mglmx 57:ee5da8a011e0 211 // next bit in packet
mglmx 57:ee5da8a011e0 212 temp_command = temp_command<<1;
mglmx 57:ee5da8a011e0 213 }
mglmx 57:ee5da8a011e0 214 i++;
mglmx 57:ee5da8a011e0 215 }
mglmx 57:ee5da8a011e0 216 }
mglmx 57:ee5da8a011e0 217
mglmx 57:ee5da8a011e0 218 /**
mglmx 57:ee5da8a011e0 219 *Defining areas for train detection and collision logic.
mglmx 57:ee5da8a011e0 220 *area_A_arr/area_B_arr - Arrays that hold the Dsensors for each area, used to initialize the vectors.
mglmx 57:ee5da8a011e0 221 *area_A/area_B - Vectors that hold the different sensors of the corresponding areas of the track.
mglmx 57:ee5da8a011e0 222 **/
mglmx 57:ee5da8a011e0 223 int area_A_arr[] = {D21,D2,D22,D1,D0,D13,D12};
mglmx 57:ee5da8a011e0 224 int area_B_arr[] = {D6,D7,D8};
mglmx 57:ee5da8a011e0 225
mglmx 57:ee5da8a011e0 226 const vector<int> area_A(area_A_arr,area_A_arr + sizeof(area_A_arr) / sizeof(int));
mglmx 57:ee5da8a011e0 227 const vector<int> area_B(area_B_arr,area_B_arr + sizeof(area_B_arr) / sizeof(int));
mglmx 57:ee5da8a011e0 228
mglmx 57:ee5da8a011e0 229
mglmx 57:ee5da8a011e0 230
mglmx 57:ee5da8a011e0 231 /**
mglmx 57:ee5da8a011e0 232 *
carlosperales95 45:d589318238bf 233 *Train class.
carlosperales95 45:d589318238bf 234 *
carlosperales95 45:d589318238bf 235 *@position -
carlosperales95 45:d589318238bf 236 *@going_cw -
carlosperales95 45:d589318238bf 237 *
carlosperales95 45:d589318238bf 238 *Train(int, bool) -
carlosperales95 45:d589318238bf 239 *Train(bool) -
carlosperales95 45:d589318238bf 240 *
carlosperales95 45:d589318238bf 241 *Vector get_next_sensors() -
carlosperales95 45:d589318238bf 242 *set_position(int) -
carlosperales95 45:d589318238bf 243 *set_goes_cw(bool) -
carlosperales95 45:d589318238bf 244 *Position get_position() -
carlosperales95 45:d589318238bf 245 *Int get_position_number() -
carlosperales95 45:d589318238bf 246 *Bool goes_cw() -
carlosperales95 45:d589318238bf 247 *
carlosperales95 45:d589318238bf 248 **/
mglmx 41:4fa6aa29d1ed 249 class Train{
carlosperales95 45:d589318238bf 250
mglmx 57:ee5da8a011e0 251 private:
mglmx 57:ee5da8a011e0 252
mglmx 57:ee5da8a011e0 253 unsigned int train_address; //stop the train
mglmx 41:4fa6aa29d1ed 254 Position *position;
mglmx 41:4fa6aa29d1ed 255 bool going_cw;
mglmx 57:ee5da8a011e0 256 int speed;
carlosperales95 45:d589318238bf 257
mglmx 41:4fa6aa29d1ed 258 public:
mglmx 41:4fa6aa29d1ed 259 Train(int pos, bool cw){
carlosperales95 45:d589318238bf 260
mglmx 41:4fa6aa29d1ed 261 position = &positions[pos];
mglmx 41:4fa6aa29d1ed 262 going_cw = cw;
mglmx 41:4fa6aa29d1ed 263 }
carlosperales95 45:d589318238bf 264
mglmx 57:ee5da8a011e0 265 /**
mglmx 57:ee5da8a011e0 266 * Contructor that takes the address of the train and the speed with default value MEDIUM.
mglmx 57:ee5da8a011e0 267 */
mglmx 57:ee5da8a011e0 268 Train(unsigned int address, int s=MEDIUM){
mglmx 57:ee5da8a011e0 269 train_address = address;
mglmx 57:ee5da8a011e0 270 speed = s;
mglmx 57:ee5da8a011e0 271 }
mglmx 57:ee5da8a011e0 272
carlosperales95 45:d589318238bf 273 Train(bool cw){ going_cw = cw; }
mglmx 57:ee5da8a011e0 274
mglmx 41:4fa6aa29d1ed 275 vector<int> get_next_sensors(){
mglmx 41:4fa6aa29d1ed 276
mglmx 41:4fa6aa29d1ed 277 //Checking direction
mglmx 41:4fa6aa29d1ed 278 if(going_cw){
carlosperales95 45:d589318238bf 279
mglmx 43:346a1f4144cd 280 return position->get_next_cw();
mglmx 41:4fa6aa29d1ed 281 }else{
carlosperales95 45:d589318238bf 282
mglmx 43:346a1f4144cd 283 return position->get_next_ccw();
mglmx 41:4fa6aa29d1ed 284 }
mglmx 41:4fa6aa29d1ed 285 }
mglmx 41:4fa6aa29d1ed 286
mglmx 57:ee5da8a011e0 287 void set_speed(int s){
mglmx 57:ee5da8a011e0 288 speed = s;
mglmx 57:ee5da8a011e0 289 }
mglmx 57:ee5da8a011e0 290
mglmx 57:ee5da8a011e0 291 /**
mglmx 57:ee5da8a011e0 292 * Sends a DCC command to the train with the speed indicaed by the attribute speed
mglmx 57:ee5da8a011e0 293 * The number of times the command is sent can be indicated as an optional parameter. Default value is 1.
mglmx 57:ee5da8a011e0 294 */
mglmx 57:ee5da8a011e0 295 void run(int times=1){
mglmx 57:ee5da8a011e0 296
mglmx 57:ee5da8a011e0 297 const unsigned int DCCinst_forward_slow = 0x66; //forward slow speed (step 9)
mglmx 57:ee5da8a011e0 298 const unsigned int DCCinst_forward_medium = 0x68; //forward half speed
mglmx 57:ee5da8a011e0 299 const unsigned int DCCinst_forward_fast = 0x6C; //Forward fast speed (step 22)
mglmx 57:ee5da8a011e0 300 const unsigned int DCCinst_forward_full = 0x6F; //Forward full speed
mglmx 57:ee5da8a011e0 301 const unsigned int DCCinst_reverse_medium = 0x48; //reverse half speed
mglmx 57:ee5da8a011e0 302 const unsigned int DCCinst_stop = 0x50; //stop the train
mglmx 57:ee5da8a011e0 303
mglmx 57:ee5da8a011e0 304 switch(speed){
mglmx 57:ee5da8a011e0 305 case STOP:
mglmx 57:ee5da8a011e0 306 DCC_send_command(train_address, DCCinst_stop,times);
mglmx 57:ee5da8a011e0 307 break;
mglmx 57:ee5da8a011e0 308 case SLOW:
mglmx 57:ee5da8a011e0 309 DCC_send_command(train_address, DCCinst_forward_slow,times);
mglmx 57:ee5da8a011e0 310 break;
mglmx 57:ee5da8a011e0 311 case MEDIUM:
mglmx 57:ee5da8a011e0 312 DCC_send_command(train_address, DCCinst_forward_medium,times);
mglmx 57:ee5da8a011e0 313 break;
mglmx 57:ee5da8a011e0 314 case FAST:
mglmx 57:ee5da8a011e0 315 DCC_send_command(train_address, DCCinst_forward_fast,times);
mglmx 57:ee5da8a011e0 316 break;
mglmx 57:ee5da8a011e0 317 case FULL:
mglmx 57:ee5da8a011e0 318 DCC_send_command(train_address, DCCinst_forward_full,times);
mglmx 57:ee5da8a011e0 319 break;
mglmx 57:ee5da8a011e0 320 case R_MEDIUM:
mglmx 57:ee5da8a011e0 321 DCC_send_command(train_address, DCCinst_reverse_medium,times);
mglmx 57:ee5da8a011e0 322 break;
mglmx 57:ee5da8a011e0 323 }
mglmx 57:ee5da8a011e0 324 }
mglmx 57:ee5da8a011e0 325
mglmx 41:4fa6aa29d1ed 326 void set_position(int pos){
carlosperales95 45:d589318238bf 327
mglmx 41:4fa6aa29d1ed 328 position = &positions[pos]; //Taking the new position from the positions vector
mglmx 41:4fa6aa29d1ed 329 }
mglmx 41:4fa6aa29d1ed 330
mglmx 41:4fa6aa29d1ed 331 void set_goes_cw(bool cw){
carlosperales95 45:d589318238bf 332
mglmx 41:4fa6aa29d1ed 333 going_cw = cw;
mglmx 41:4fa6aa29d1ed 334 }
mglmx 41:4fa6aa29d1ed 335
mglmx 41:4fa6aa29d1ed 336 Position get_position(){
carlosperales95 45:d589318238bf 337
mglmx 41:4fa6aa29d1ed 338 return *position;
mglmx 41:4fa6aa29d1ed 339 }
mglmx 41:4fa6aa29d1ed 340
mglmx 41:4fa6aa29d1ed 341 int get_position_number(){
carlosperales95 45:d589318238bf 342
mglmx 41:4fa6aa29d1ed 343 return position->get_pos();
mglmx 41:4fa6aa29d1ed 344 }
mglmx 41:4fa6aa29d1ed 345
mglmx 41:4fa6aa29d1ed 346 bool goes_cw(){
carlosperales95 45:d589318238bf 347
mglmx 41:4fa6aa29d1ed 348 return going_cw;
mglmx 41:4fa6aa29d1ed 349 }
mglmx 57:ee5da8a011e0 350
mglmx 57:ee5da8a011e0 351
mglmx 57:ee5da8a011e0 352 /**
mglmx 57:ee5da8a011e0 353 *
mglmx 57:ee5da8a011e0 354 *Checks if the element exists within the vector.
mglmx 57:ee5da8a011e0 355 *
mglmx 57:ee5da8a011e0 356 *@v - The vector (of ints) the method will go through.
mglmx 57:ee5da8a011e0 357 *@element - The element the method will look for.
mglmx 57:ee5da8a011e0 358 *
mglmx 57:ee5da8a011e0 359 **/
mglmx 57:ee5da8a011e0 360 bool in_vector(vector<int>v,int element){
mglmx 57:ee5da8a011e0 361
mglmx 57:ee5da8a011e0 362 bool exist = false;
mglmx 57:ee5da8a011e0 363
mglmx 57:ee5da8a011e0 364 for(int i=0; i< v.size(); i++){
mglmx 57:ee5da8a011e0 365
mglmx 57:ee5da8a011e0 366 if(v[i] == element){
mglmx 57:ee5da8a011e0 367
mglmx 57:ee5da8a011e0 368 exist = true;
mglmx 57:ee5da8a011e0 369 }
mglmx 57:ee5da8a011e0 370 }
mglmx 57:ee5da8a011e0 371 return exist;
mglmx 57:ee5da8a011e0 372 }
mglmx 57:ee5da8a011e0 373
mglmx 57:ee5da8a011e0 374 bool is_in_A(){
mglmx 57:ee5da8a011e0 375 return in_vector(area_A,get_position_number());
mglmx 57:ee5da8a011e0 376
mglmx 57:ee5da8a011e0 377 }
mglmx 57:ee5da8a011e0 378
mglmx 57:ee5da8a011e0 379 bool is_in_B(){
mglmx 57:ee5da8a011e0 380
mglmx 57:ee5da8a011e0 381 return in_vector(area_B,get_position_number());
mglmx 57:ee5da8a011e0 382 }
mglmx 41:4fa6aa29d1ed 383 };
mglmx 41:4fa6aa29d1ed 384
carlosperales95 45:d589318238bf 385
carlosperales95 38:b9aba3715682 386 //Creation of all the positions. One for every sensor on the table - Position name(mapping)
mglmx 35:cfcfeccb959e 387 Position d0(D0);
mglmx 35:cfcfeccb959e 388 Position d1(D1);
mglmx 35:cfcfeccb959e 389 Position d2(D2);
mglmx 35:cfcfeccb959e 390 Position d3(D3);
mglmx 35:cfcfeccb959e 391 Position d4(D4);
mglmx 35:cfcfeccb959e 392 Position d5(D5);
mglmx 35:cfcfeccb959e 393 Position d6(D6);
mglmx 35:cfcfeccb959e 394 Position d7(D7);
mglmx 35:cfcfeccb959e 395 Position d8(D8);
mglmx 35:cfcfeccb959e 396 Position d9(D9);
mglmx 35:cfcfeccb959e 397 Position d10(D10);
mglmx 35:cfcfeccb959e 398 Position d11(D11);
mglmx 35:cfcfeccb959e 399 Position d12(D12);
mglmx 35:cfcfeccb959e 400 Position d13(D13);
mglmx 35:cfcfeccb959e 401 Position d21(D21);
mglmx 35:cfcfeccb959e 402 Position d22(D22);
mglmx 35:cfcfeccb959e 403
mglmx 43:346a1f4144cd 404
mglmx 41:4fa6aa29d1ed 405
mglmx 35:cfcfeccb959e 406
carlosperales95 25:a42a1ed4d8e9 407
mglmx 57:ee5da8a011e0 408
carlosperales95 25:a42a1ed4d8e9 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 57:ee5da8a011e0 450 Train DR_train(DCCaddressDR,MEDIUM);
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
carlosperales95 45:d589318238bf 456 /**
carlosperales95 45:d589318238bf 457 *Booleans that will determine if the train should be moving or not.
carlosperales95 45:d589318238bf 458 *Booleans will switch to false to stop any of the trains and avoid collisions.
carlosperales95 45:d589318238bf 459 *DR_run - Boolean for DR_train / LR_run - Boolean for LR_train
carlosperales95 45:d589318238bf 460 **/
mglmx 43:346a1f4144cd 461 bool DR_run = true;
mglmx 43:346a1f4144cd 462 bool LR_run = true;
mglmx 18:aa43bb62e60f 463
carlosperales95 38:b9aba3715682 464
carlosperales95 45:d589318238bf 465
carlosperales95 38:b9aba3715682 466 //**************** FUNCTIONS FOR DENVER TRAIN ****************//
carlosperales95 38:b9aba3715682 467
carlosperales95 38:b9aba3715682 468
mglmx 22:e4153ca757dd 469 /**
carlosperales95 45:d589318238bf 470 *
carlosperales95 25:a42a1ed4d8e9 471 *Activates the buzzer for 0.5 seconds.
carlosperales95 45:d589318238bf 472 *
mglmx 22:e4153ca757dd 473 **/
mglmx 22:e4153ca757dd 474 void doBuzz(){
carlosperales95 25:a42a1ed4d8e9 475
mglmx 22:e4153ca757dd 476 buzz = 1;
mglmx 22:e4153ca757dd 477 wait(0.5);
mglmx 22:e4153ca757dd 478 buzz = 0;
mglmx 22:e4153ca757dd 479 }
mglmx 18:aa43bb62e60f 480
carlosperales95 45:d589318238bf 481
carlosperales95 45:d589318238bf 482 /**
carlosperales95 45:d589318238bf 483 *
carlosperales95 47:e992a129ef44 484 *Initializes every position's vectors (prev_cw and prev_ccw) with the corresponding sensors.
carlosperales95 47:e992a129ef44 485 *prev_cw - Sensors previous to the current in clockwise sense.
carlosperales95 47:e992a129ef44 486 *prev_ccw - Sensors previous to the current in counter-clockwise sense.
carlosperales95 45:d589318238bf 487 *
carlosperales95 45:d589318238bf 488 **/
mglmx 35:cfcfeccb959e 489 void init_positions(){
mglmx 36:9428c72bdd58 490
mglmx 35:cfcfeccb959e 491 d0.add_prev_cw(D1);
mglmx 35:cfcfeccb959e 492 d0.add_prev_ccw(D13);
mglmx 35:cfcfeccb959e 493
mglmx 35:cfcfeccb959e 494 d1.add_prev_cw(D22);
mglmx 35:cfcfeccb959e 495 d1.add_prev_ccw(D0);
mglmx 35:cfcfeccb959e 496
mglmx 35:cfcfeccb959e 497 d22.add_prev_cw(D2);
mglmx 35:cfcfeccb959e 498 d22.add_prev_ccw(D1);
mglmx 35:cfcfeccb959e 499
mglmx 35:cfcfeccb959e 500 d2.add_prev_cw(D21);
mglmx 35:cfcfeccb959e 501 d2.add_prev_ccw(D22);
mglmx 35:cfcfeccb959e 502
mglmx 35:cfcfeccb959e 503 d21.add_prev_cw(D3);
mglmx 35:cfcfeccb959e 504 d21.add_prev_cw(D4);
mglmx 35:cfcfeccb959e 505 d21.add_prev_ccw(D2);
mglmx 35:cfcfeccb959e 506
mglmx 35:cfcfeccb959e 507 d3.add_prev_cw(D9);
mglmx 35:cfcfeccb959e 508 d3.add_prev_ccw(D21);
mglmx 35:cfcfeccb959e 509
mglmx 35:cfcfeccb959e 510 d4.add_prev_cw(D6);
mglmx 35:cfcfeccb959e 511 d4.add_prev_ccw(D21);
mglmx 35:cfcfeccb959e 512
mglmx 35:cfcfeccb959e 513 d5.add_prev_cw(D6);
mglmx 35:cfcfeccb959e 514 d5.add_prev_ccw(D11);
mglmx 35:cfcfeccb959e 515
mglmx 35:cfcfeccb959e 516 d6.add_prev_cw(D7);
mglmx 35:cfcfeccb959e 517 d6.add_prev_ccw(D4);
mglmx 35:cfcfeccb959e 518 d6.add_prev_ccw(D5);
mglmx 35:cfcfeccb959e 519
mglmx 35:cfcfeccb959e 520 d7.add_prev_cw(D8);
mglmx 35:cfcfeccb959e 521 d7.add_prev_ccw(D6);
mglmx 35:cfcfeccb959e 522
mglmx 36:9428c72bdd58 523 d8.add_prev_cw(D9);
mglmx 36:9428c72bdd58 524 d8.add_prev_cw(D10);
mglmx 36:9428c72bdd58 525 d8.add_prev_ccw(D7);
mglmx 36:9428c72bdd58 526
mglmx 35:cfcfeccb959e 527 d9.add_prev_cw(D3);
mglmx 35:cfcfeccb959e 528 d9.add_prev_ccw(D8);
mglmx 35:cfcfeccb959e 529
mglmx 35:cfcfeccb959e 530 d10.add_prev_cw(D12);
mglmx 35:cfcfeccb959e 531 d10.add_prev_ccw(D8);
mglmx 35:cfcfeccb959e 532
mglmx 35:cfcfeccb959e 533 d11.add_prev_cw(D12);
mglmx 35:cfcfeccb959e 534 d11.add_prev_ccw(D5);
mglmx 35:cfcfeccb959e 535
mglmx 35:cfcfeccb959e 536 d12.add_prev_cw(D13);
mglmx 35:cfcfeccb959e 537 d12.add_prev_ccw(D10);
mglmx 35:cfcfeccb959e 538 d12.add_prev_ccw(D11);
mglmx 35:cfcfeccb959e 539
mglmx 35:cfcfeccb959e 540 d13.add_prev_cw(D0);
mglmx 35:cfcfeccb959e 541 d13.add_prev_ccw(D12);
mglmx 36:9428c72bdd58 542
mglmx 36:9428c72bdd58 543 //Initialize array with positions
mglmx 36:9428c72bdd58 544 positions.push_back(d0);
mglmx 36:9428c72bdd58 545 positions.push_back(d1);
mglmx 36:9428c72bdd58 546 positions.push_back(d2);
mglmx 36:9428c72bdd58 547 positions.push_back(d3);
mglmx 36:9428c72bdd58 548 positions.push_back(d4);
mglmx 36:9428c72bdd58 549 positions.push_back(d5);
mglmx 36:9428c72bdd58 550 positions.push_back(d6);
mglmx 36:9428c72bdd58 551 positions.push_back(d7);
mglmx 36:9428c72bdd58 552 positions.push_back(d8);
mglmx 36:9428c72bdd58 553 positions.push_back(d9);
mglmx 36:9428c72bdd58 554 positions.push_back(d10);
mglmx 36:9428c72bdd58 555 positions.push_back(d11);
mglmx 36:9428c72bdd58 556 positions.push_back(d12);
mglmx 36:9428c72bdd58 557 positions.push_back(d13);
mglmx 36:9428c72bdd58 558 positions.push_back(d21);
mglmx 36:9428c72bdd58 559 positions.push_back(d22);
mglmx 35:cfcfeccb959e 560 }
carlosperales95 24:1d71dd8778c4 561
carlosperales95 45:d589318238bf 562
mglmx 22:e4153ca757dd 563 /**
carlosperales95 24:1d71dd8778c4 564 *
carlosperales95 28:71bd4c83c05f 565 *Here we initialize the mcp that will be used to manage the interrupts.
carlosperales95 25:a42a1ed4d8e9 566 *
carlosperales95 24:1d71dd8778c4 567 **/
mglmx 18:aa43bb62e60f 568 void initialize_mcp(){
mglmx 33:24ce12dec157 569 mcp = new MCP23017(i2c,0x40); //Connect to SCL - p28 and SDA - p27 and MPC I2C address 0x40
mglmx 18:aa43bb62e60f 570
mglmx 33:24ce12dec157 571 mcp->_write(IODIRA, (unsigned char )0xff);
mglmx 33:24ce12dec157 572 mcp->_write(IODIRB, (unsigned char )0xff);
mglmx 33:24ce12dec157 573 mcp->_write(IPOLA, (unsigned char )0x00);
mglmx 33:24ce12dec157 574 mcp->_write(IPOLB, (unsigned char )0x00);
mglmx 33:24ce12dec157 575 mcp->_write(DEFVALA, (unsigned char )0xff);
mglmx 33:24ce12dec157 576 mcp->_write(DEFVALB, (unsigned char )0xff);
mglmx 33:24ce12dec157 577 mcp->_write(INTCONA, (unsigned char )0xff);
mglmx 33:24ce12dec157 578 mcp->_write(INTCONB, (unsigned char )0xff);
mglmx 33:24ce12dec157 579 mcp->_write(IOCONA, (unsigned char )0x2);
mglmx 33:24ce12dec157 580 mcp->_write(IOCONB, (unsigned char )0x2);
mglmx 33:24ce12dec157 581 mcp->_write(GPPUA, (unsigned char )0xff);
mglmx 33:24ce12dec157 582 mcp->_write(GPPUB, (unsigned char )0xff);
mglmx 33:24ce12dec157 583
mglmx 18:aa43bb62e60f 584 }
mglmx 18:aa43bb62e60f 585
carlosperales95 45:d589318238bf 586
carlosperales95 24:1d71dd8778c4 587 /**
carlosperales95 24:1d71dd8778c4 588 *
carlosperales95 37:bb15bea420a3 589 *Returns the number of the sensor where the train was detected.
carlosperales95 37:bb15bea420a3 590 *
carlosperales95 47:e992a129ef44 591 *@number -
carlosperales95 47:e992a129ef44 592 *@interrupt -
carlosperales95 47:e992a129ef44 593 *
carlosperales95 37:bb15bea420a3 594 **/
mglmx 34:c9ab2a987734 595 int get_sensor(unsigned int number,int interrupt){
carlosperales95 45:d589318238bf 596
mglmx 34:c9ab2a987734 597 int sensor = -1;
mglmx 34:c9ab2a987734 598
carlosperales95 37:bb15bea420a3 599 for(int i=0; i<8; i++){
mglmx 34:c9ab2a987734 600
carlosperales95 45:d589318238bf 601 if(~number & 1<<i){
carlosperales95 45:d589318238bf 602
mglmx 34:c9ab2a987734 603 sensor = i;
mglmx 34:c9ab2a987734 604 }
mglmx 34:c9ab2a987734 605 }
mglmx 34:c9ab2a987734 606
mglmx 34:c9ab2a987734 607 if(interrupt == 1){
carlosperales95 45:d589318238bf 608
carlosperales95 37:bb15bea420a3 609 sensor+= 8; // Sensors caught by interreupt1 are identified from 8 to 15.
mglmx 34:c9ab2a987734 610 }
carlosperales95 45:d589318238bf 611
mglmx 34:c9ab2a987734 612 return sensor;
mglmx 34:c9ab2a987734 613 }
mglmx 34:c9ab2a987734 614
carlosperales95 45:d589318238bf 615
mglmx 57:ee5da8a011e0 616
mglmx 43:346a1f4144cd 617
carlosperales95 45:d589318238bf 618
carlosperales95 42:b445252a772a 619 /**
mglmx 57:ee5da8a011e0 620 *This method will check if there is a non-avoidable frontal collision(NAFC).
carlosperales95 47:e992a129ef44 621 *A NAFC will happen if:
carlosperales95 47:e992a129ef44 622 *
carlosperales95 47:e992a129ef44 623 *Both trains in area A or B with different direction
carlosperales95 47:e992a129ef44 624 *Trains in (D11 and D5) or (D9 and D3) with same direction
carlosperales95 47:e992a129ef44 625 *
mglmx 43:346a1f4144cd 626 */
mglmx 57:ee5da8a011e0 627 bool check_NAC(){
carlosperales95 45:d589318238bf 628
mglmx 43:346a1f4144cd 629 bool NAC = false;
mglmx 43:346a1f4144cd 630
mglmx 57:ee5da8a011e0 631 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 632
mglmx 43:346a1f4144cd 633 if(DR_train.goes_cw() ^ LR_train.goes_cw()){ //XOR: They must have different values to be true (Different direction)
carlosperales95 45:d589318238bf 634
mglmx 43:346a1f4144cd 635 NAC = true;
mglmx 43:346a1f4144cd 636 }
mglmx 43:346a1f4144cd 637 }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 638
mglmx 43:346a1f4144cd 639 if(!(DR_train.goes_cw() ^ LR_train.goes_cw())){ // NOT XOR: They must have same values to be true (Same direction)
carlosperales95 45:d589318238bf 640
mglmx 43:346a1f4144cd 641 NAC = true;
mglmx 43:346a1f4144cd 642 }
mglmx 43:346a1f4144cd 643 }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 644
mglmx 43:346a1f4144cd 645 if(!(DR_train.goes_cw() ^ LR_train.goes_cw())){ // NOT XOR: They must have same values to be true (Same direction)
carlosperales95 45:d589318238bf 646
mglmx 43:346a1f4144cd 647 NAC = true;
mglmx 43:346a1f4144cd 648 }
mglmx 43:346a1f4144cd 649 }
carlosperales95 45:d589318238bf 650 return NAC;
mglmx 43:346a1f4144cd 651 }
mglmx 43:346a1f4144cd 652
mglmx 55:aa3baa01f43d 653 /*
mglmx 55:aa3baa01f43d 654 void AFC_action(int switch_n, int sensor, Train *stop_train, Train * cont_train ){
mglmx 55:aa3baa01f43d 655
mglmx 55:aa3baa01f43d 656 flip_switch(switch_n,5); //Activate switch 5
mglmx 55:aa3baa01f43d 657
mglmx 55:aa3baa01f43d 658 while(cont_train->get_position_number() != sensor){
mglmx 55:aa3baa01f43d 659 DR_run = false; //DR has to stop
mglmx 55:aa3baa01f43d 660 LR_run = true; //LR continues
mglmx 55:aa3baa01f43d 661 send_command();
mglmx 55:aa3baa01f43d 662 }
mglmx 55:aa3baa01f43d 663 DR_run = true;
mglmx 55:aa3baa01f43d 664 LR_run = true; //Both trains start to run again
mglmx 55:aa3baa01f43d 665 }
mglmx 55:aa3baa01f43d 666 */
carlosperales95 45:d589318238bf 667
mglmx 43:346a1f4144cd 668 /**
carlosperales95 47:e992a129ef44 669 *
mglmx 55:aa3baa01f43d 670 *The function will check if there is an Avoidable Frontal Collision (AFC).
carlosperales95 47:e992a129ef44 671 *AFC will occur if:
carlosperales95 47:e992a129ef44 672 *
carlosperales95 47:e992a129ef44 673 *Train in area A(ccw) and train in D4(cw)
carlosperales95 47:e992a129ef44 674 *Train in area A(cw) and train in D10(ccw)
carlosperales95 47:e992a129ef44 675 *Train in area B(cw) and train in D4(ccw)
carlosperales95 47:e992a129ef44 676 *Train in area B(ccw) and train in D10(ccw)
carlosperales95 47:e992a129ef44 677 *
carlosperales95 46:7a0933676b13 678 **/
carlosperales95 46:7a0933676b13 679 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 680
carlosperales95 45:d589318238bf 681 if( DR_train.get_position_number() == D4){
carlosperales95 45:d589318238bf 682
mglmx 43:346a1f4144cd 683 if(DR_train.goes_cw()){
carlosperales95 45:d589318238bf 684
mglmx 43:346a1f4144cd 685 if(LR_in_A && !LR_train.goes_cw()){
carlosperales95 45:d589318238bf 686
mglmx 43:346a1f4144cd 687 //Activate switch2
mglmx 43:346a1f4144cd 688 //DR_train has to stop
mglmx 43:346a1f4144cd 689 //When LR is at D3 DR continues
mglmx 43:346a1f4144cd 690 }
mglmx 43:346a1f4144cd 691 }else{ //DR goes ccw
carlosperales95 45:d589318238bf 692
mglmx 43:346a1f4144cd 693 if(LR_in_B && LR_train.goes_cw()){
carlosperales95 45:d589318238bf 694
mglmx 43:346a1f4144cd 695 //DR_train stops
mglmx 43:346a1f4144cd 696 //Activate switch3
mglmx 43:346a1f4144cd 697 //When LR is at D5 DR continues
mglmx 43:346a1f4144cd 698 }
mglmx 43:346a1f4144cd 699 }
mglmx 43:346a1f4144cd 700
mglmx 43:346a1f4144cd 701 }else if(DR_train.get_position_number() == D10){
carlosperales95 45:d589318238bf 702
mglmx 43:346a1f4144cd 703 if(DR_train.goes_cw()){
carlosperales95 45:d589318238bf 704
mglmx 43:346a1f4144cd 705 if(LR_in_B && !LR_train.goes_cw()){
carlosperales95 45:d589318238bf 706
mglmx 43:346a1f4144cd 707 //DR train stops
mglmx 43:346a1f4144cd 708 //Activate switch4
mglmx 43:346a1f4144cd 709 //When LR is at D9 DR continues
mglmx 43:346a1f4144cd 710 }
mglmx 43:346a1f4144cd 711 }else{
carlosperales95 45:d589318238bf 712
mglmx 43:346a1f4144cd 713 if(LR_in_A && LR_train.goes_cw()){
carlosperales95 45:d589318238bf 714
mglmx 43:346a1f4144cd 715 //DR train stops
mglmx 43:346a1f4144cd 716 //Activate switch1
mglmx 43:346a1f4144cd 717 //When LR is at D9 DR continues
mglmx 43:346a1f4144cd 718 }
mglmx 43:346a1f4144cd 719 }
mglmx 43:346a1f4144cd 720 }
mglmx 43:346a1f4144cd 721 }
mglmx 43:346a1f4144cd 722
carlosperales95 45:d589318238bf 723
carlosperales95 45:d589318238bf 724 /**
carlosperales95 45:d589318238bf 725 *
carlosperales95 47:e992a129ef44 726 *The method check_position will check if any of the trains is in any of the areas.
carlosperales95 47:e992a129ef44 727 *It will go through all the area vectors (A,B) and call the function in_vector to check inside the vectors.
carlosperales95 45:d589318238bf 728 *
carlosperales95 45:d589318238bf 729 **/
mglmx 57:ee5da8a011e0 730 void check_position(){
mglmx 57:ee5da8a011e0 731
mglmx 57:ee5da8a011e0 732 if(check_NAC()){
mglmx 55:aa3baa01f43d 733 lcd.cls();
mglmx 55:aa3baa01f43d 734 lcd.printf("NAC!!!");
mglmx 55:aa3baa01f43d 735 }
mglmx 43:346a1f4144cd 736
mglmx 43:346a1f4144cd 737 }
mglmx 43:346a1f4144cd 738
carlosperales95 45:d589318238bf 739
carlosperales95 45:d589318238bf 740 /**
carlosperales95 45:d589318238bf 741 *
carlosperales95 47:e992a129ef44 742 *Description
carlosperales95 45:d589318238bf 743 *
carlosperales95 47:e992a129ef44 744 *@sensor -
carlosperales95 45:d589318238bf 745 *
carlosperales95 45:d589318238bf 746 **/
mglmx 35:cfcfeccb959e 747 void update_train_pos(int sensor){
mglmx 52:c08495446f87 748 led2 = 1;
mglmx 41:4fa6aa29d1ed 749
mglmx 35:cfcfeccb959e 750 bool found_DR = false;
mglmx 41:4fa6aa29d1ed 751 bool found_LR = false;
mglmx 41:4fa6aa29d1ed 752
mglmx 49:880c0b9c9c64 753 string DR_dir,LR_dir;
mglmx 49:880c0b9c9c64 754
mglmx 49:880c0b9c9c64 755 if(DR_train.goes_cw()){
mglmx 49:880c0b9c9c64 756 DR_dir = "cw";
mglmx 49:880c0b9c9c64 757 }else{
mglmx 49:880c0b9c9c64 758 DR_dir = "ccw";
mglmx 49:880c0b9c9c64 759 }
mglmx 49:880c0b9c9c64 760
mglmx 49:880c0b9c9c64 761 if(LR_train.goes_cw()){
mglmx 49:880c0b9c9c64 762 LR_dir = "cw";
mglmx 49:880c0b9c9c64 763 }else{
mglmx 49:880c0b9c9c64 764 LR_dir = "ccw";
mglmx 55:aa3baa01f43d 765 }
mglmx 49:880c0b9c9c64 766
mglmx 49:880c0b9c9c64 767
mglmx 52:c08495446f87 768 //wait(0.7);
mglmx 41:4fa6aa29d1ed 769
mglmx 55:aa3baa01f43d 770 if(sensor == DR_train.get_position_number() || sensor == LR_train.get_position_number()){
mglmx 55:aa3baa01f43d 771 led2 = 0;
mglmx 52:c08495446f87 772 }else{
mglmx 55:aa3baa01f43d 773
mglmx 55:aa3baa01f43d 774 lcd.cls();
mglmx 55:aa3baa01f43d 775 lcd.printf("S:D%d DR%d(",sensor,DR_train.get_position_number());
mglmx 55:aa3baa01f43d 776
mglmx 55:aa3baa01f43d 777 //TODO: Do a for to print all next sensors.
mglmx 55:aa3baa01f43d 778 for(int i=0; i<DR_train.get_next_sensors().size(); i++){
mglmx 55:aa3baa01f43d 779
mglmx 55:aa3baa01f43d 780 lcd.printf("%d,",DR_train.get_next_sensors()[i]);
mglmx 55:aa3baa01f43d 781 }
mglmx 55:aa3baa01f43d 782
mglmx 55:aa3baa01f43d 783 lcd.printf(")%s LR%d(",DR_dir,LR_train.get_position_number());
mglmx 55:aa3baa01f43d 784
mglmx 55:aa3baa01f43d 785 for(int i=0; i<LR_train.get_next_sensors().size(); i++){
mglmx 55:aa3baa01f43d 786
mglmx 55:aa3baa01f43d 787 lcd.printf("%d,",LR_train.get_next_sensors()[i]);
mglmx 55:aa3baa01f43d 788 }
mglmx 55:aa3baa01f43d 789
mglmx 55:aa3baa01f43d 790 lcd.printf(")%s",LR_dir);
mglmx 55:aa3baa01f43d 791
mglmx 52:c08495446f87 792 //Checking next sensors for DR train
mglmx 55:aa3baa01f43d 793 for(int i=0; i<DR_train.get_next_sensors().size(); i++){
mglmx 55:aa3baa01f43d 794
mglmx 55:aa3baa01f43d 795 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 796
mglmx 55:aa3baa01f43d 797 found_DR = true;
mglmx 55:aa3baa01f43d 798
mglmx 55:aa3baa01f43d 799
mglmx 55:aa3baa01f43d 800 if(DR_train.goes_cw()){
mglmx 55:aa3baa01f43d 801 if(DR_train.get_position_number() == D5 || DR_train.get_position_number() == D11){
mglmx 55:aa3baa01f43d 802
mglmx 55:aa3baa01f43d 803 DR_train.set_goes_cw(false); //If train goes cw and passes D5 or D11 we change orientation
mglmx 55:aa3baa01f43d 804 }
mglmx 55:aa3baa01f43d 805 }else{
mglmx 55:aa3baa01f43d 806
mglmx 55:aa3baa01f43d 807 if(DR_train.get_position_number() == D9 || DR_train.get_position_number() == D3){
mglmx 55:aa3baa01f43d 808
mglmx 55:aa3baa01f43d 809 DR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation
mglmx 55:aa3baa01f43d 810 }
mglmx 55:aa3baa01f43d 811 }
mglmx 55:aa3baa01f43d 812
mglmx 55:aa3baa01f43d 813 DR_train.set_position(sensor);
mglmx 55:aa3baa01f43d 814
mglmx 55:aa3baa01f43d 815 }
mglmx 55:aa3baa01f43d 816 }
mglmx 55:aa3baa01f43d 817
mglmx 55:aa3baa01f43d 818 //Checking next sensors for LR train
mglmx 55:aa3baa01f43d 819 for(int i=0; i<LR_train.get_next_sensors().size(); i++){
mglmx 55:aa3baa01f43d 820
mglmx 55:aa3baa01f43d 821 if(LR_train.get_next_sensors()[i] == sensor){
carlosperales95 45:d589318238bf 822
mglmx 55:aa3baa01f43d 823 found_LR = true;
mglmx 55:aa3baa01f43d 824
mglmx 55:aa3baa01f43d 825 if(LR_train.goes_cw()){
carlosperales95 45:d589318238bf 826
mglmx 55:aa3baa01f43d 827 if(LR_train.get_position_number() == D5 || LR_train.get_position_number() == D11){
mglmx 55:aa3baa01f43d 828 LR_train.set_goes_cw(false); //If train goes cw and passes D5 or D11 we change orientation
mglmx 55:aa3baa01f43d 829 }
mglmx 55:aa3baa01f43d 830 }else{
mglmx 55:aa3baa01f43d 831
mglmx 55:aa3baa01f43d 832 if(LR_train.get_position_number() == D9 || LR_train.get_position_number() == D3 ){
mglmx 55:aa3baa01f43d 833
mglmx 55:aa3baa01f43d 834 LR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation
mglmx 55:aa3baa01f43d 835 }
mglmx 41:4fa6aa29d1ed 836 }
mglmx 55:aa3baa01f43d 837 LR_train.set_position(sensor);
mglmx 55:aa3baa01f43d 838
mglmx 55:aa3baa01f43d 839 }
mglmx 55:aa3baa01f43d 840 }
mglmx 55:aa3baa01f43d 841 /*
mglmx 55:aa3baa01f43d 842 if(found_DR){
mglmx 49:880c0b9c9c64 843
mglmx 55:aa3baa01f43d 844 //doBuzz();
mglmx 55:aa3baa01f43d 845 lcd.cls();
mglmx 55:aa3baa01f43d 846 lcd.printf("DR is at D%d",DR_train.get_position_number());
mglmx 41:4fa6aa29d1ed 847 }
mglmx 55:aa3baa01f43d 848
mglmx 55:aa3baa01f43d 849 if(found_LR){
mglmx 55:aa3baa01f43d 850
mglmx 55:aa3baa01f43d 851 lcd.cls();
mglmx 55:aa3baa01f43d 852 lcd.printf("LR is at D%d",LR_train.get_position_number());
mglmx 55:aa3baa01f43d 853 }
mglmx 55:aa3baa01f43d 854
mglmx 55:aa3baa01f43d 855 if(!found_DR && !found_LR){
mglmx 55:aa3baa01f43d 856
mglmx 55:aa3baa01f43d 857 lcd.cls();
mglmx 55:aa3baa01f43d 858 lcd.printf("No train before :(");
mglmx 55:aa3baa01f43d 859 }
mglmx 55:aa3baa01f43d 860 */
mglmx 55:aa3baa01f43d 861
mglmx 41:4fa6aa29d1ed 862 }
mglmx 41:4fa6aa29d1ed 863
mglmx 35:cfcfeccb959e 864 }
mglmx 35:cfcfeccb959e 865
carlosperales95 37:bb15bea420a3 866
mglmx 34:c9ab2a987734 867 /**
mglmx 34:c9ab2a987734 868 *
carlosperales95 25:a42a1ed4d8e9 869 *Method to catch interrupts 0
carlosperales95 25:a42a1ed4d8e9 870 *
carlosperales95 24:1d71dd8778c4 871 **/
mglmx 33:24ce12dec157 872 void on_int0_change(){
carlosperales95 25:a42a1ed4d8e9 873
mglmx 33:24ce12dec157 874 wait_us(2000);
mglmx 33:24ce12dec157 875 int sensor_data = mcp->_read(INTCAPA);
mglmx 34:c9ab2a987734 876 int sensor = get_sensor(sensor_data,0);
mglmx 55:aa3baa01f43d 877 //lcd.cls();
mglmx 55:aa3baa01f43d 878 //lcd.printf("int0 0x%x \n Sensor: %d",sensor_data,sensor);
mglmx 41:4fa6aa29d1ed 879
mglmx 35:cfcfeccb959e 880 update_train_pos(sensor);
mglmx 16:2a2da0e67793 881 }
mglmx 16:2a2da0e67793 882
mglmx 35:cfcfeccb959e 883
carlosperales95 24:1d71dd8778c4 884 /**
carlosperales95 24:1d71dd8778c4 885 *
carlosperales95 25:a42a1ed4d8e9 886 *Method to catch interrupts 1
carlosperales95 25:a42a1ed4d8e9 887 *
carlosperales95 24:1d71dd8778c4 888 **/
mglmx 33:24ce12dec157 889 void on_int1_change(){
carlosperales95 25:a42a1ed4d8e9 890
mglmx 33:24ce12dec157 891 wait_us(2000);
mglmx 33:24ce12dec157 892 int sensor_data = mcp->_read(INTCAPB);
mglmx 34:c9ab2a987734 893 int sensor = get_sensor(sensor_data,1);
mglmx 55:aa3baa01f43d 894 //lcd.cls();
mglmx 55:aa3baa01f43d 895 //lcd.printf("int1 0x%x \n Sensor: %d",sensor_data,sensor);
mglmx 35:cfcfeccb959e 896
mglmx 35:cfcfeccb959e 897 update_train_pos(sensor);
mglmx 16:2a2da0e67793 898 }
mglmx 26:5c966a0a3e8e 899
carlosperales95 45:d589318238bf 900 /**
carlosperales95 45:d589318238bf 901 *
carlosperales95 47:e992a129ef44 902 *Clear current interrupts
carlosperales95 45:d589318238bf 903 *
carlosperales95 45:d589318238bf 904 **/
carlosperales95 47:e992a129ef44 905 void init() {
mglmx 26:5c966a0a3e8e 906
mglmx 33:24ce12dec157 907 mcp->_read(GPIOA);
mglmx 33:24ce12dec157 908 mcp->_read(GPIOB); // Register callbacks
mglmx 33:24ce12dec157 909 int0.fall(&on_int0_change);
mglmx 33:24ce12dec157 910 int1.fall(&on_int1_change); // Enable interrupts on MCP
mglmx 33:24ce12dec157 911 mcp->_write(GPINTENA, (unsigned char )0xff);
mglmx 33:24ce12dec157 912 mcp->_write(GPINTENB, (unsigned char )0xff); // Ready to go!
mglmx 33:24ce12dec157 913 }
mglmx 33:24ce12dec157 914
mglmx 33:24ce12dec157 915
mglmx 57:ee5da8a011e0 916
carlosperales95 11:021210c59a95 917
carlosperales95 24:1d71dd8778c4 918
carlosperales95 24:1d71dd8778c4 919 /**
carlosperales95 24:1d71dd8778c4 920 *
carlosperales95 25:a42a1ed4d8e9 921 *Method to flip the switches
carlosperales95 25:a42a1ed4d8e9 922 *
carlosperales95 25:a42a1ed4d8e9 923 *@switchId - (1-4)The ID of the switch we want to flip
carlosperales95 25:a42a1ed4d8e9 924 *@times - The number of times we want to send the command
mglmx 30:293ee760d357 925 *@activate - True if the switch is going to be activated. False if it needs to go back to rest position.
carlosperales95 25:a42a1ed4d8e9 926 *
carlosperales95 24:1d71dd8778c4 927 **/
mglmx 55:aa3baa01f43d 928 void flip_switch(int switchId, int times, bool activate=true){
mglmx 21:e6f1649add39 929
carlosperales95 25:a42a1ed4d8e9 930 unsigned int SWBflip = SWBidle; //IDLE - Flip last activated SW.
mglmx 21:e6f1649add39 931
mglmx 21:e6f1649add39 932 switch(switchId){
carlosperales95 45:d589318238bf 933
mglmx 21:e6f1649add39 934 case 1:
carlosperales95 25:a42a1ed4d8e9 935 SWBflip = SWBflip_1; //FLIP SW1
mglmx 21:e6f1649add39 936 break;
carlosperales95 45:d589318238bf 937
mglmx 21:e6f1649add39 938 case 2:
carlosperales95 25:a42a1ed4d8e9 939 SWBflip = SWBflip_2; //FLIP SW2
mglmx 21:e6f1649add39 940 break;
carlosperales95 45:d589318238bf 941
mglmx 21:e6f1649add39 942 case 3:
carlosperales95 25:a42a1ed4d8e9 943 SWBflip = SWBflip_3; //FLIP SW3
mglmx 21:e6f1649add39 944 break;
carlosperales95 45:d589318238bf 945
mglmx 21:e6f1649add39 946 case 4:
carlosperales95 25:a42a1ed4d8e9 947 SWBflip = SWBflip_4; //FLIP SW4
mglmx 21:e6f1649add39 948 break;
carlosperales95 45:d589318238bf 949
mglmx 21:e6f1649add39 950 default:
carlosperales95 24:1d71dd8778c4 951 break;
mglmx 21:e6f1649add39 952 }
carlosperales95 11:021210c59a95 953
mglmx 21:e6f1649add39 954 //Security measure not to burn the switch.
mglmx 30:293ee760d357 955 if(times <=5){
carlosperales95 45:d589318238bf 956
mglmx 30:293ee760d357 957 DCC_send_command(SWBaddress,SWBflip,times); //Activating switch
mglmx 30:293ee760d357 958 if(!activate){
carlosperales95 45:d589318238bf 959
mglmx 30:293ee760d357 960 DCC_send_command(SWBaddress,SWBidle,times); //Sending IDLE to flip back.
mglmx 30:293ee760d357 961 }
mglmx 30:293ee760d357 962 }
mglmx 21:e6f1649add39 963 }
mglmx 21:e6f1649add39 964
mglmx 22:e4153ca757dd 965
carlosperales95 24:1d71dd8778c4 966 /**
carlosperales95 24:1d71dd8778c4 967 *
carlosperales95 29:559eb2164488 968 *Checks if any of the switches of the box has been activated.
carlosperales95 29:559eb2164488 969 *Calls necessary function and displays LCD text.
carlosperales95 25:a42a1ed4d8e9 970 *
carlosperales95 24:1d71dd8778c4 971 **/
mglmx 21:e6f1649add39 972 void checkSwitch(){
carlosperales95 24:1d71dd8778c4 973
mglmx 22:e4153ca757dd 974 if(switch1 == 1){
carlosperales95 24:1d71dd8778c4 975
mglmx 22:e4153ca757dd 976 lcd.cls();
mglmx 22:e4153ca757dd 977 lcd.printf("Switch 1 ON - SW1");
mglmx 55:aa3baa01f43d 978 flip_switch(1,5);
mglmx 22:e4153ca757dd 979 }else if(switch2 == 1){
carlosperales95 24:1d71dd8778c4 980
carlosperales95 24:1d71dd8778c4 981 lcd.cls();
carlosperales95 24:1d71dd8778c4 982 lcd.printf("Switch 2 ON - SW2");
mglmx 55:aa3baa01f43d 983 flip_switch(2,5);
carlosperales95 24:1d71dd8778c4 984 }else if(switch3 == 0){
carlosperales95 24:1d71dd8778c4 985
carlosperales95 24:1d71dd8778c4 986 lcd.cls();
carlosperales95 24:1d71dd8778c4 987 lcd.printf("Switch 3 ON - SW3");
mglmx 55:aa3baa01f43d 988 flip_switch(3,5);
carlosperales95 24:1d71dd8778c4 989 }else if(switch4 == 0){
carlosperales95 24:1d71dd8778c4 990
carlosperales95 24:1d71dd8778c4 991 lcd.cls();
carlosperales95 24:1d71dd8778c4 992 lcd.printf("Switch 4 ON - IDLE");
mglmx 55:aa3baa01f43d 993 flip_switch(0,5);
carlosperales95 24:1d71dd8778c4 994 }
mglmx 22:e4153ca757dd 995 }
mglmx 22:e4153ca757dd 996
carlosperales95 45:d589318238bf 997
carlosperales95 24:1d71dd8778c4 998
mglmx 55:aa3baa01f43d 999
mglmx 55:aa3baa01f43d 1000 /**
mglmx 55:aa3baa01f43d 1001 * Returns a sensor number depending on how many times switch3 flips.
mglmx 55:aa3baa01f43d 1002 * When pressing switch4 it confirms the switch
mglmx 55:aa3baa01f43d 1003 * Init_sensor is the value where we start counting.
mglmx 55:aa3baa01f43d 1004 * string train is the name of the train that will be prited with the sensor
mglmx 55:aa3baa01f43d 1005 */
mglmx 55:aa3baa01f43d 1006 int select_sensor(int init_sensor, string train){
mglmx 55:aa3baa01f43d 1007
mglmx 55:aa3baa01f43d 1008 lcd.cls();
mglmx 57:ee5da8a011e0 1009 lcd.printf("%s SENSOR D%d",train,init_sensor);
mglmx 55:aa3baa01f43d 1010
mglmx 55:aa3baa01f43d 1011 int sensor = init_sensor;
mglmx 52:c08495446f87 1012 bool changed = false;
mglmx 52:c08495446f87 1013 bool exit = false;
mglmx 52:c08495446f87 1014
mglmx 52:c08495446f87 1015 while(!exit){
mglmx 52:c08495446f87 1016 if(switch3 == 0){
mglmx 52:c08495446f87 1017 if(changed){
mglmx 52:c08495446f87 1018 sensor++;
mglmx 52:c08495446f87 1019 sensor=sensor%15; //Only sensors from 0 to 15.
mglmx 52:c08495446f87 1020 changed=false;
mglmx 55:aa3baa01f43d 1021 lcd.cls();
mglmx 55:aa3baa01f43d 1022 lcd.printf("%s: D%d",train,sensor);
mglmx 52:c08495446f87 1023 }
mglmx 52:c08495446f87 1024
mglmx 52:c08495446f87 1025 }else{
mglmx 52:c08495446f87 1026 changed = true;
mglmx 55:aa3baa01f43d 1027 wait(0.2);
mglmx 52:c08495446f87 1028 }
mglmx 52:c08495446f87 1029
mglmx 52:c08495446f87 1030 if(switch4 == 0){
mglmx 52:c08495446f87 1031 exit = true;
mglmx 55:aa3baa01f43d 1032 wait(0.2);
mglmx 52:c08495446f87 1033 }
mglmx 52:c08495446f87 1034 }
mglmx 52:c08495446f87 1035
mglmx 52:c08495446f87 1036 return sensor;
mglmx 52:c08495446f87 1037 }
carlosperales95 45:d589318238bf 1038
mglmx 55:aa3baa01f43d 1039 /**
mglmx 55:aa3baa01f43d 1040 * Returns a boolean representing the direction. Everytimew switch3 is 0 it changes the direction.
mglmx 55:aa3baa01f43d 1041 * When switch4 is 0 the selection is confirmed.
mglmx 55:aa3baa01f43d 1042 * Init_going_cw is the initial direction.
mglmx 55:aa3baa01f43d 1043 * Train is the string with the name of the train that will be printed next to the direction
mglmx 55:aa3baa01f43d 1044 */
mglmx 55:aa3baa01f43d 1045 bool select_direction(bool init_going_cw,string train){
mglmx 55:aa3baa01f43d 1046
mglmx 57:ee5da8a011e0 1047 string dir_string;
mglmx 57:ee5da8a011e0 1048
mglmx 57:ee5da8a011e0 1049 if(init_going_cw){
mglmx 57:ee5da8a011e0 1050 dir_string = "cw";
mglmx 57:ee5da8a011e0 1051 }else{
mglmx 57:ee5da8a011e0 1052 dir_string = "ccw";
mglmx 57:ee5da8a011e0 1053 }
mglmx 57:ee5da8a011e0 1054
mglmx 55:aa3baa01f43d 1055 lcd.cls();
mglmx 57:ee5da8a011e0 1056 lcd.printf("%s DIRECTION %s ",train,dir_string);
mglmx 57:ee5da8a011e0 1057
mglmx 55:aa3baa01f43d 1058 bool exit = false;
mglmx 55:aa3baa01f43d 1059 bool going_cw = init_going_cw;
mglmx 55:aa3baa01f43d 1060 bool changed = false;
mglmx 55:aa3baa01f43d 1061
mglmx 55:aa3baa01f43d 1062 while(!exit){
mglmx 55:aa3baa01f43d 1063 if(switch3 == 0){
mglmx 55:aa3baa01f43d 1064 if(changed){
mglmx 55:aa3baa01f43d 1065 going_cw = !going_cw;
mglmx 55:aa3baa01f43d 1066 changed = false;
mglmx 55:aa3baa01f43d 1067 string dir;
mglmx 55:aa3baa01f43d 1068 if(going_cw){
mglmx 55:aa3baa01f43d 1069 dir = "cw";
mglmx 55:aa3baa01f43d 1070 }else{
mglmx 55:aa3baa01f43d 1071 dir = "ccw";
mglmx 55:aa3baa01f43d 1072 }
mglmx 55:aa3baa01f43d 1073 lcd.cls();
mglmx 55:aa3baa01f43d 1074 lcd.printf("%s: %s",train,dir);
mglmx 55:aa3baa01f43d 1075 }
mglmx 55:aa3baa01f43d 1076 }else{
mglmx 55:aa3baa01f43d 1077 changed = true;
mglmx 55:aa3baa01f43d 1078 wait(0.2);
mglmx 55:aa3baa01f43d 1079 }
mglmx 55:aa3baa01f43d 1080
mglmx 55:aa3baa01f43d 1081 if(switch4 == 0){
mglmx 55:aa3baa01f43d 1082 exit = true;
mglmx 55:aa3baa01f43d 1083 wait(0.2);
mglmx 55:aa3baa01f43d 1084 }
mglmx 55:aa3baa01f43d 1085 }
mglmx 55:aa3baa01f43d 1086
mglmx 55:aa3baa01f43d 1087 return going_cw;
mglmx 55:aa3baa01f43d 1088 }
mglmx 55:aa3baa01f43d 1089
carlosperales95 11:021210c59a95 1090 //**************** MAIN PROGRAM FOR DENVER TRAIN ****************//
carlosperales95 11:021210c59a95 1091
carlosperales95 45:d589318238bf 1092
mglmx 1:0ab26889af9b 1093 int main()
mglmx 1:0ab26889af9b 1094 {
carlosperales95 25:a42a1ed4d8e9 1095 //RISE FOR INTERRUPTS?? NOT WORKING ATM
carlosperales95 25:a42a1ed4d8e9 1096 //int0.rise(&interrupt0);
carlosperales95 25:a42a1ed4d8e9 1097 //int1.rise(&interrupt1);
carlosperales95 25:a42a1ed4d8e9 1098
carlosperales95 25:a42a1ed4d8e9 1099 //Read and display potentiometer
carlosperales95 25:a42a1ed4d8e9 1100 //float f = pot.read();
carlosperales95 25:a42a1ed4d8e9 1101 //float vin = f * 3.3;
carlosperales95 25:a42a1ed4d8e9 1102 //lcd.printf("vin: %.4f",vin);
carlosperales95 25:a42a1ed4d8e9 1103
carlosperales95 25:a42a1ed4d8e9 1104 //0xFFFC //1111111111111100
carlosperales95 25:a42a1ed4d8e9 1105
carlosperales95 56:fe999806787d 1106 enable = 0;
carlosperales95 25:a42a1ed4d8e9 1107
carlosperales95 25:a42a1ed4d8e9 1108 //Led routine to start main program
mglmx 2:f580707c44fa 1109 led1 = 1;
mglmx 22:e4153ca757dd 1110 wait(0.2);
mglmx 2:f580707c44fa 1111 led1 = 0;
mglmx 22:e4153ca757dd 1112 wait(0.2);
mglmx 2:f580707c44fa 1113 led1 = 1;
mglmx 16:2a2da0e67793 1114
mglmx 55:aa3baa01f43d 1115 init_positions();
mglmx 55:aa3baa01f43d 1116
carlosperales95 25:a42a1ed4d8e9 1117 initialize_mcp(); //mcp initialization for interrupts before train running
mglmx 33:24ce12dec157 1118 init();
mglmx 57:ee5da8a011e0 1119
mglmx 55:aa3baa01f43d 1120
mglmx 55:aa3baa01f43d 1121 int DR_init_sensor = select_sensor(D9,"DR");
mglmx 55:aa3baa01f43d 1122 bool DR_init_dir = select_direction(false,"DR");
mglmx 55:aa3baa01f43d 1123
mglmx 55:aa3baa01f43d 1124 wait(0.5);
mglmx 55:aa3baa01f43d 1125
mglmx 55:aa3baa01f43d 1126 int LR_init_sensor = select_sensor(D9,"LR");
mglmx 55:aa3baa01f43d 1127 bool LR_init_dir = select_direction(true,"LR");
mglmx 55:aa3baa01f43d 1128
mglmx 55:aa3baa01f43d 1129 DR_train.set_position(DR_init_sensor);
mglmx 55:aa3baa01f43d 1130 DR_train.set_goes_cw(DR_init_dir);
mglmx 55:aa3baa01f43d 1131
mglmx 55:aa3baa01f43d 1132 LR_train.set_position(LR_init_sensor);
mglmx 55:aa3baa01f43d 1133 LR_train.set_goes_cw(LR_init_dir);
mglmx 55:aa3baa01f43d 1134
mglmx 16:2a2da0e67793 1135
mglmx 55:aa3baa01f43d 1136 string DR_print_dir, LR_print_dir;
mglmx 55:aa3baa01f43d 1137
mglmx 55:aa3baa01f43d 1138 if(DR_train.goes_cw()){
mglmx 55:aa3baa01f43d 1139 DR_print_dir = "cw";
mglmx 55:aa3baa01f43d 1140 }else{
mglmx 55:aa3baa01f43d 1141 DR_print_dir = "ccw";
mglmx 55:aa3baa01f43d 1142 }
mglmx 55:aa3baa01f43d 1143
mglmx 55:aa3baa01f43d 1144 if(LR_train.goes_cw()){
mglmx 55:aa3baa01f43d 1145 LR_print_dir = "cw";
mglmx 55:aa3baa01f43d 1146 }else{
mglmx 55:aa3baa01f43d 1147 LR_print_dir = "ccw";
mglmx 55:aa3baa01f43d 1148 }
mglmx 55:aa3baa01f43d 1149
mglmx 55:aa3baa01f43d 1150 lcd.cls();
mglmx 55:aa3baa01f43d 1151 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 1152
mglmx 55:aa3baa01f43d 1153 wait(2);
mglmx 55:aa3baa01f43d 1154
mglmx 43:346a1f4144cd 1155
carlosperales95 25:a42a1ed4d8e9 1156 //Train light routine to start running
mglmx 43:346a1f4144cd 1157 /*
mglmx 32:e5b732fb8e65 1158 DCC_send_command(DCCaddressDR,DCC_func_lighton,200); // turn light on full
mglmx 52:c08495446f87 1159 DCC_send_command(DCCaddressDR,DCC_func_dimlight,400); // dim light
mglmx 52:c08495446f87 1160 DCC_send_command(DCCaddressDR,DCC_func_lighton,200); // light full again
mglmx 43:346a1f4144cd 1161 */
mglmx 57:ee5da8a011e0 1162
mglmx 57:ee5da8a011e0 1163
mglmx 57:ee5da8a011e0 1164
carlosperales95 25:a42a1ed4d8e9 1165 //LED3 Shows start of route + LCD notif
mglmx 22:e4153ca757dd 1166 led3 = 1; // Entering the while
mglmx 22:e4153ca757dd 1167 lcd.cls();
mglmx 22:e4153ca757dd 1168 lcd.printf("Ready to start");
mglmx 55:aa3baa01f43d 1169 wait(1);
carlosperales95 19:ff21ba3a4dc5 1170
carlosperales95 56:fe999806787d 1171 enable = 1;
carlosperales95 56:fe999806787d 1172
carlosperales95 14:7bb998edd819 1173 //Demo for stopping at the station
mglmx 1:0ab26889af9b 1174 while(1) {
mglmx 4:50879dfb82d5 1175
mglmx 55:aa3baa01f43d 1176 checkSwitch(); //Checks for switch commands everytime.
mglmx 55:aa3baa01f43d 1177 check_position();
carlosperales95 25:a42a1ed4d8e9 1178
mglmx 33:24ce12dec157 1179 if(1==0){
mglmx 33:24ce12dec157 1180 //if(station == 1){ //If train is on the sensor at the middle of the station it stops and displays LCD text.
carlosperales95 14:7bb998edd819 1181
mglmx 4:50879dfb82d5 1182 lcd.cls();
carlosperales95 29:559eb2164488 1183 lcd.printf("All aboard\n mind the gap");
mglmx 32:e5b732fb8e65 1184 DCC_send_command(DCCaddressDR,DCCinst_stop,400);
carlosperales95 29:559eb2164488 1185 lcd.cls();
mglmx 4:50879dfb82d5 1186
mglmx 22:e4153ca757dd 1187 }else{
mglmx 57:ee5da8a011e0 1188 DR_train.run();
mglmx 57:ee5da8a011e0 1189 LR_train.run();
mglmx 55:aa3baa01f43d 1190
carlosperales95 25:a42a1ed4d8e9 1191 }
mglmx 1:0ab26889af9b 1192 }
mglmx 3:fe7010b693a0 1193 }