attempt 1
Dependencies: mbed
Diff: main.cpp
- Revision:
- 0:fda0081e634b
- Child:
- 1:54ae0e3ae1b7
diff -r 000000000000 -r fda0081e634b main.cpp --- /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////////////////////////////////////////////////////////// + + + } + + +}