Revision 74:dbbc528f2b18, committed 2018-06-27

Comitter:

carlosperales95

Date:

Wed Jun 27 11:11:28 2018 +0000

Parent:

73:1bf7f6a38fde

Child:

75:bae748a7905f

Commit message:

Code organiz. and comments;

Changed in this revision

--- a/main.cpp	Wed Jun 27 10:02:27 2018 +0000
+++ b/main.cpp	Wed Jun 27 11:11:28 2018 +0000
@@ -71,11 +71,9 @@
 MCP23017 *mcp;
 
 
-
-//------GLOBAL VARS
+//------DEFINITIONS
 
-//......SENSOR POSITION VARS
-
+//......SENSOR DEFS
 //Definition of D sensors, will be interpreted as ints for the program's logic
 #define D0 0
 #define D1 1
@@ -94,6 +92,7 @@
 #define D21 14
 #define D22 15
 
+//......SPEED DEFS
 //Definition of the different train speeds, will be interpreted as ints for the program's logic
 #define STOP 0
 #define SLOW 1
@@ -103,66 +102,42 @@
 #define R_MEDIUM 5
 
 
+//--------DCC SEND COMMANDS
 
-/**
-*
-*Position class.
-*
-*@position - 
-*@previous_cw - 
-*@previous_ccw - 
-*
-*Position(int) - 
-*
-*get_pos() - 
-*get_prev_cw() - 
-*get_ccw() - 
-*add_prev_cw() - 
-*add_ccw() - 
-*
-**/
-class Position{
-    private:
-        int position; 
-        vector <int> previous_cw;
-        vector <int> previous_ccw;
-    public:
-        Position(int p){
-            position = p;
-        }
-        
-        int get_pos(){
-            return position;    
-        }
-        
-        vector<int> get_next_cw(){
-            return previous_ccw;
-        }
-        
-        vector<int> get_next_ccw(){
-            return previous_cw;
-        }
+//01DCSSSS for speed, D is direction (fwd=1 and rev=0), C is speed(SSSSC) LSB
+const unsigned int DCCinst_forward = 0x68; //forward half speed
+const unsigned int DCCinst_forward_slow = 0x66; //forward slow speed (step 9)
+const unsigned int DCCinst_forward_fast = 0x6C; //Forward fast speed (step 22)
+const unsigned int DCCinst_forward_full = 0x6F; //Forward full speed 
+const unsigned int DCCinst_reverse = 0x48; //reverse half speed
+const unsigned int DCCinst_stop = 0x50;    //stop the train
 
-        vector <int> get_prev_cw(){
-            return previous_cw;    
-        }
-        
-        vector <int> get_prev_ccw(){
-            return previous_ccw;    
-        }
-        
-        void add_prev_cw(int pos){
-            previous_cw.push_back(pos);
-        };
-        
-        void add_prev_ccw(int pos){
-            previous_ccw.push_back(pos);
-        };
-};
+//100DDDDD for basic headlight functions
+const unsigned int DCC_func_lighton = 0x90; //F0 turns on headlight function
+const unsigned int DCC_func_dimlight = 0x91; //F0 + F1 dims headlight
 
 
-//Creating a vector with all the positions.
-vector<Position> positions;
+//.....SWITCH COMMAND VARS
+    
+const unsigned int SWBaddress = 0x06; //Address for switch box
+
+//100DDDDD where DDDDD is the switch command and 100 is constant:
+
+//00001(F1 active)-00010(F2 active)-00100(F3 active)-01000(F4 active)
+//Example - 111111 0 00000101 0 10000000 0 10000101 1 - idle
+const unsigned int SWBidle = 0x80; //IDLE - Flip last activated SW.
+const unsigned int SWBflip_1 = 0x81; //Flip SW1
+const unsigned int SWBflip_2 = 0x82; //Flip SW2
+const unsigned int SWBflip_3 = 0x84; //Flip SW3
+const unsigned int SWBflip_4 = 0x88; //Flip SW4
+
+
+//.....DCC TRAIN COMMAND VARS
+
+//typical out of box default engine DCC address is 3 (at least for Bachmann trains)
+//Note: A DCC controller can reprogram the address whenever needed
+const unsigned int DCCaddressDR = 0x01; //Address for train 1 DARK-RED
+const unsigned int DCCaddressLR = 0x03; //Address for train 3 LIGHT-RED
 
 
 /**
@@ -220,6 +195,76 @@
     }
 }
 
+
+
+//------CLASSES
+
+//......POSITION CLASS
+
+/**
+*
+*Position class.
+*
+*@position - 
+*@previous_cw - 
+*@previous_ccw - 
+*
+*Position(int) - 
+*
+*get_pos() - 
+*get_prev_cw() - 
+*get_ccw() - 
+*add_prev_cw() - 
+*add_ccw() - 
+*
+**/
+class Position{
+    
+    private:
+    
+        int position; 
+        vector <int> previous_cw;
+        vector <int> previous_ccw;
+    public:
+    
+        Position(int p){
+            position = p;
+        }
+        
+        int get_pos(){
+            return position;    
+        }
+        
+        vector<int> get_next_cw(){
+            return previous_ccw;
+        }
+        
+        vector<int> get_next_ccw(){
+            return previous_cw;
+        }
+
+        vector <int> get_prev_cw(){
+            return previous_cw;    
+        }
+        
+        vector <int> get_prev_ccw(){
+            return previous_ccw;    
+        }
+        
+        void add_prev_cw(int pos){
+            previous_cw.push_back(pos);
+        };
+        
+        void add_prev_ccw(int pos){
+            previous_ccw.push_back(pos);
+        };
+};
+
+//......INITS USED FOR CLASS TRAIN
+
+//Creating a vector with all the positions.
+vector<Position> positions;
+
 /**
 *Defining areas for train detection and collision logic.
 *area_A_arr/area_B_arr - Arrays that hold the Dsensors for each area, used to initialize the vectors.
@@ -232,6 +277,7 @@
 const vector<int> area_B(area_B_arr,area_B_arr + sizeof(area_B_arr) / sizeof(int));
 
 
+//......TRAIN CLASS
 
 /**
 *
@@ -289,6 +335,18 @@
             }            
         }
         
+        vector<int> get_previous_sensors(){
+            
+            //Checking direction
+            if(going_cw){
+                
+                return position->get_next_ccw();
+            }else{
+                
+                return position->get_next_cw();
+            }            
+        }
+        
         void set_speed(int s){
             speed = s;
         }        
@@ -388,6 +446,10 @@
 };
 
 
+//------GLOBAL VARS AND INITS
+
+//......POSITIONS INIT
+
 //Creation of all the positions. One for every sensor on the table - Position name(mapping)
 Position d0(D0);
 Position d1(D1);
@@ -407,40 +469,7 @@
 Position d22(D22);
 
 
-//01DCSSSS for speed, D is direction (fwd=1 and rev=0), C is speed(SSSSC) LSB
-const unsigned int DCCinst_forward = 0x68; //forward half speed
-const unsigned int DCCinst_forward_slow = 0x66; //forward slow speed (step 9)
-const unsigned int DCCinst_forward_fast = 0x6C; //Forward fast speed (step 22)
-const unsigned int DCCinst_forward_full = 0x6F; //Forward full speed 
-const unsigned int DCCinst_reverse = 0x48; //reverse half speed
-const unsigned int DCCinst_stop = 0x50;    //stop the train
-
-//100DDDDD for basic headlight functions
-const unsigned int DCC_func_lighton = 0x90; //F0 turns on headlight function
-const unsigned int DCC_func_dimlight = 0x91; //F0 + F1 dims headlight
-
-
-//.....SWITCH COMMAND VARS
-    
-const unsigned int SWBaddress = 0x06; //Address for switch box
-
-//100DDDDD where DDDDD is the switch command and 100 is constant:
-
-//00001(F1 active)-00010(F2 active)-00100(F3 active)-01000(F4 active)
-//Example - 111111 0 00000101 0 10000000 0 10000101 1 - idle
-const unsigned int SWBidle = 0x80; //IDLE - Flip last activated SW.
-const unsigned int SWBflip_1 = 0x81; //Flip SW1
-const unsigned int SWBflip_2 = 0x82; //Flip SW2
-const unsigned int SWBflip_3 = 0x84; //Flip SW3
-const unsigned int SWBflip_4 = 0x88; //Flip SW4
-
-
-//.....DCC TRAIN COMMAND VARS
-
-//typical out of box default engine DCC address is 3 (at least for Bachmann trains)
-//Note: A DCC controller can reprogram the address whenever needed
-const unsigned int DCCaddressDR = 0x01; //Address for train 1 DARK-RED
-const unsigned int DCCaddressLR = 0x03; //Address for train 3 LIGHT-RED
+//......TRAINS INIT
 
 /**
 *Creation of 2 Train objects. 
@@ -450,10 +479,15 @@
 Train DR_train(DCCaddressDR,MEDIUM);
 Train LR_train(DCCaddressLR,MEDIUM);
 
+
+//......FLAGS INIT
+
 //possibility of an array having {dr_train, lr_train}? for reuse and modularity of functions
 
 int speedcheck = 0;
 
+bool station_stop = false;
+
 
 
 //**************** FUNCTIONS FOR DENVER TRAIN ****************//
@@ -967,13 +1001,49 @@
 
 /**
 *
+*
+*
+**/
+void stay_at_distance(Train* train_front, Train* train_back){
+    
+    led1 = 0;
+    led2 = 0;
+    led3 = 0;
+        
+    led1 = 1;
+    for(int i=0; i<train_back->get_next_sensors().size(); i++){
+            
+        led2 = 1;
+        for(int j=0; j<train_front->get_previous_sensors().size(); j++){
+                
+            while(train_back->get_next_sensors()[i] == train_front->get_previous_sensors()[j]){
+                    
+                led3 = 1;
+                //stop back train
+                train_back->set_speed(STOP);
+            }
+        }
+    }
+    train_back->set_speed(MEDIUM);
+    led1 = 0;
+    led2 = 0;
+    led3 = 0;
+}
+
+
+
+/**
+*
 *The method check_position will check if any of the trains is in any of the areas.
 *It will go through all the area vectors (A,B) and call the function in_vector to check inside the vectors.
 *
 **/
 void check_position(){    
-        
-    if(check_NAC()){NAC_action();}
+    
+    stay_at_distance(&DR_train,&LR_train);
+    stay_at_distance(&LR_train,&DR_train);
+    
+    if(check_NAC()){ NAC_action(); }
     
     check_AFC(&DR_train,&LR_train);       
     check_AFC(&LR_train,&DR_train);
@@ -1079,7 +1149,13 @@
                         LR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation
                     }
                 }
-                LR_train.set_position(sensor);  
+                LR_train.set_position(sensor); 
+                
+                if(sensor == D2 && station_stop){
+                    
+                    DR_train.set_speed(STOP);
+                    LR_train.set_speed(STOP);                    
+                } 
             }
         }
     }
@@ -1142,7 +1218,14 @@
         
         //lcd.cls();
         //lcd.printf("TRAIN NOW WILL STOP AT STATION");
-     }else if(switch2 == 1){
+        station_stop = true;
+     }else{
+        
+        station_stop = false;
+        LR_train.set_speed(MEDIUM);                    
+        DR_train.set_speed(MEDIUM);                       
+    } 
+    if(switch2 == 1){
         
             //lcd.cls();
             //lcd.printf("SPEEDCHECKMODE");
@@ -1173,8 +1256,6 @@
     }
 
 
-
-
 /**
 *
 * Returns a sensor number depending on how many times switch3 flips.
@@ -1385,6 +1466,7 @@
     //Demo for stopping at the station
     while(1) {
         
+
         checkSwitch();  //Checks for switch commands everytime. 
         switch_toSpeed();
         lcd.cls();