Diff: main.cpp

Revision:

0:fda0081e634b

Child:

1:54ae0e3ae1b7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Mar 20 21:00:49 2015 +0000
@@ -0,0 +1,120 @@
+#include "mbed.h"
+#include <map>
+
+//elevator I/O
+BusOut leds(LED1,LED2,LED3,LED4);
+PwmOut DC(p21);
+PwmOut servo1(p22);
+PwmOut servo2(p23);
+AnalogIn  irIN(p16);
+
+Serial pc(USBTX, USBRX);
+
+
+//itizilize digital I/O for keypad
+DigitalOut row1(p24);
+DigitalOut row2(p25);
+DigitalIn col1(p20);
+DigitalIn col2(p19);
+DigitalIn col3(p18);
+
+//timer for row switch
+Timer t1;
+Timer irT;
+//init keypad map
+map<int, int> keypadMap;
+
+void init(){
+        keypadMap[0x11]= 0x1;
+        keypadMap[0x12]= 0x2;
+        keypadMap[0x14]= 0x4;
+        keypadMap[0x18]= 0x0;
+        keypadMap[0x21]= 0x8;
+        keypadMap[0x22]= 0x0;
+        keypadMap[0x24]= 0x0;
+        keypadMap[0x28]= 0x0;
+        }
+
+int main() {
+        
+    init();
+    //Initialize rows to 0 and keypad stuff
+    row1 = 0;
+    row2 = 0;
+    t1.start();
+    int cur_input = 0x00;
+    int prev_input = 0x00;
+    float irPeriod = 0; 
+    
+    int nofloor = 0;   //set nofloor state to 0
+
+    //initialize servo and dc motor
+    float freq = 50;
+    DC.period(1/freq);               // set PWM period to user specified for high tone
+    DC=0.4;                         // set duty cycle to 50%
+    servo1.period(1/freq);               // set PWM period to user specified for high tone
+    servo1=0.0375;                         // set duty cycle to 50%
+    servo2.period(1/freq);               // set PWM period to user specified for high tone
+    servo2=0.1125;                         // set duty cycle to 50%
+    
+    while(1) {
+ 
+/////////////////////////////floor detection//////////////////////////////////////
+
+
+//floor detected
+if(irIN > 0.95){
+    irT.start();       //start IRfloor timer
+    nofloor = 0;   //set nofloor state to 0
+    }
+else if(irIN < 0.5 && nofloor == 0){ 
+    irT.stop();                       //stop timer     
+    irPeriod = irT.read_us();    //read time 
+    irT.reset();                   //reset
+    nofloor = 1;                      //no current floor detcted
+    //make floor decision based on irPeriod
+    pc.printf("Detected Period: %f val %f\r",irPeriod,irIN.read());
+
+    }
+
+
+ 
+/////////////Below contains all code in order to detect current input from keypad////////////////////////////       
+        if(prev_input == 0){
+
+            row1 = 0;
+            row2 = 0;
+            //Keep each pin on for 4ms
+            //"turn on" appropriat bit in map when on.
+           switch(t1.read_ms()%8){
+                            case 0:
+                            row1 = 1;
+                            cur_input |= 0x10;   
+                            break;
+                            case 4:
+                            row2 = 1;
+                            cur_input |= 0x20;
+                            break;
+                            }
+                }
+        
+            //Check each colum to see if it is high
+            //if it is "turn on" that respective bit
+             if(col1 == 1)
+             cur_input |= 0x01;
+             else if(col2 == 1)
+             cur_input |= 0x02;
+             else if(col3 == 1)
+             cur_input |= 0x04;
+             else cur_input = 0;    //Detect button release or no input set input to 0
+        
+            leds = keypadMap[cur_input];
+            //Maintain the past input
+            prev_input = cur_input;
+/////////////////////////////////////////END KEYPAD//////////////////////////////////////////////////////////            
+            
+            
+            } 
+       
+    
+}