Diff: main.cpp

Revision:

7:3bed3e005200

Parent:

6:625384a34dd5

Child:

8:7e3f92f0dc47

--- a/main.cpp	Wed Oct 14 22:30:39 2015 +0000
+++ b/main.cpp	Thu Oct 15 03:54:33 2015 +0000
@@ -1,10 +1,4 @@
-/*
-Using pwm to run a servo motor
-Connect the red wire of the servo motor to 3.3V and not 5V
 
-DC motor pins - p5 and p6 to control the direction of the motor
-                p23 to control the duty cycle and period                
-*/
 #include "mbed.h"
 PwmOut pwm1(p21);       //Servo Motor-1 PWM channel
 PwmOut pwm2(p22);       //Servo Motor-2 PWM channel
@@ -17,14 +11,13 @@
 InterruptIn event(p7);  //Interrupt for rising and falling edge detection from IR
 
 Timer timer;            //Timer to read falling and rising edge time
-Timer timer2;
+
 Serial pc(USBTX, USBRX);//Serial Communication
 
 void openGate();
 void closeGate();
 void rising();
 void falling();
-void start_pwm2(int x);
 
 int getState(float adc_val);
 
@@ -33,7 +26,8 @@
 float frequency = 0;
 bool flag = false;
 //int fvalues[] = {0,100,250,500,700,1000};
-int fvalues[] = {0,102,270,615,948,1623};
+int fvalues[] = {0,100,250,500,700,700};
+//int fvalues[] = {0,102,270,615,948,1623};
 
 int main() {
     timer.start();
@@ -52,13 +46,13 @@
     pwm2.write(0);
     
     while(1){
-        //printf("Frequency:-%f\n", frequency);
-        char c = pc.getc();
-        int val = c - 48;
-        //float adc_val = button.read();
-        //int val = getState(adc_val);
-        pc.printf("Floor-%d\n",val);
-        pc.printf("CurrentState-%d\n",currentState);
+        printf("Frequency:-%f\n", frequency);
+        //char c = pc.getc();
+        //int val = c - 48;
+        float adc_val = button.read();
+        int val = getState(adc_val);
+        pc.printf("Destionation Floor :%d\n",val);
+        pc.printf("Current Floor : %d\n",currentState);
         wait(1);
         if(val==currentState){
             pwm3.write(0);
@@ -68,41 +62,43 @@
             //Move Up
             dc1 = 0;
             dc2 = 1;
-            pwm3.write(0.1);
+            pwm3.write(0.6);
             //wait(2);
             pc.printf("Floor Frequency value:%d\n",fvalues[val]);
             while(1){
-                if(((frequency > (fvalues[val] - 2)) && (frequency < (fvalues[val] + 2)))){
+                if(((frequency > (fvalues[val] - 20)) && (frequency < (fvalues[val] + 20)))){
+                    currentState = val;
                     break;
                 }
-                //else{
-                    //printf("current freq: %f\n",frequency);
-                //}
+                else{
+                    printf("current freq: %f\n",frequency);
+                }
             }
-            //while(!((frequency > (fvalues[val] - 50)) && (frequency < (fvalues[val] + 50))));
             pwm3.write(0);
             openGate();
+            
         }else{
             closeGate(); //Close gate
             //Move Down
             dc1 = 1;
             dc2 = 0;
-            pwm3.write(0.1);
+            pwm3.write(0.6);
             //wait(2);
             pc.printf("Floor Frequency value:-%d\n",fvalues[val]);
             //while(!((frequency > (fvalues[val] - 50)) && (frequency < (fvalues[val] + 50))));
             while(1){
-                if(((frequency > (fvalues[val] - 2)) && (frequency < (fvalues[val] + 2)))){ 
+                if(((frequency > (fvalues[val] - 20)) && (frequency < (fvalues[val] + 20)))){ 
+                    currentState = val;
                     break;
                 }
-                //else{
-                //    printf("current freq: %f\n",frequency);
-                //}
+                else{
+                    printf("current freq: %f\n",frequency);
+                }
             }
             pwm3.write(0);
             openGate();
         }
-        currentState = val;
+        //currentState = val;
     }
 }
 
@@ -126,22 +122,29 @@
 }
 
 int getState(float adc_val){
-    int state = 0;
+    int state = 1;
+    
     if(adc_val > 0.15 && adc_val < 0.25){
-        state = 1;
+        state = 2;
+        printf("%d\n",state);
     }
     else if(adc_val > 0.35 && adc_val < 0.45){
-        state = 2;
+        state = 1;
+        printf("%d\n",state);
     }
     else if(adc_val > 0.55 && adc_val < 0.65){
         state = 3;
+        printf("%d\n",state);
     }
     else if(adc_val > 0.75 && adc_val < 0.85){
         state = 4;
+        printf("%d\n",state);
     }
     else if(adc_val > 0.95 && adc_val < 1.05){
         state = 5;
+        printf("%d\n",state);
     }
+    
     return state;           
 }
 
@@ -158,35 +161,3 @@
         flag = false;
     }
 }
-
-void start_pwm2(int x){
-    
-    int duty1, duty2 = 0;
-    
-    //printf("Reached startpwm2\ 1 n");
-    if(x == 1){
-    duty1 = 250; // .25ms on period in us
-    duty2 = 19750; // 19.75ms off period
-    }
-    else if(x == 0){
-    //printf("Reached startpwm2 2 \n");
-    duty1 = 2250;  // 2.25ms on period
-    duty2 = 17750; //17.75ms off period
-    }
-    
-    timer2.start();
-    int start1 = timer2.read_ms();
-    printf("%d\n", start1);
-    
-    while((timer2.read_ms() - start1) < 2000){
-    //printf("entered");
-    pwm2 = 1;
-    wait_us(duty1);
-    pwm2 = 0;
-    wait_us(duty2);
-    }
-    
-    pwm2=0;
-        
-        
-}