Diff: main.cpp

Revision:

8:7e3f92f0dc47

Parent:

7:3bed3e005200

--- a/main.cpp	Thu Oct 15 03:54:33 2015 +0000
+++ b/main.cpp	Sun Oct 18 19:06:39 2015 +0000
@@ -1,5 +1,6 @@
+#include "mbed.h"
+#include "rtos.h
 
-#include "mbed.h"
 PwmOut pwm1(p21);       //Servo Motor-1 PWM channel
 PwmOut pwm2(p22);       //Servo Motor-2 PWM channel
 
@@ -11,33 +12,52 @@
 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
 
+//Functions
 void openGate();
 void closeGate();
 void rising();
 void falling();
-
+void read_button(void const *args);
+void addtoarray(int val);
 int getState(float adc_val);
 
-int currentState = 1;
+//Global variables
 int begin,end = 0;
-float frequency = 0;
-bool flag = false;
-//int fvalues[] = {0,100,250,500,700,1000};
-int fvalues[] = {0,100,250,500,700,700};
-//int fvalues[] = {0,102,270,615,948,1623};
+int dir = 1; // 1 is up and 0 is down
+int destinationState = 1; // Destination floor
+int currentState = 1; //Current floorfloat frequency = 0;
+
+//Global arrays
+int fvalues[] = {0,100,250,500,700,1000};
+int press[4]; // to store the total number of keypresses
+
 
 int main() {
+    
+    int val;
+    int i,temp =0;
+    int flag_up =0;
+    int flag_down =0;
+    
+    press[0] = 0;
+    press[1] = 0;
+    press[2] = 0;
+    press[3] = 0;
+    
     timer.start();
     event.rise(&rising);
     event.fall(&falling);
+    
     //Setting dc1 to high and dc2 to low initially
     dc1 = 0;
     dc2 = 1;
+
+    //Setting the period and duty cycle for DC motors
     pwm3.period_ms(20);
-    pwm3.write(0);
+    pwm3.write(0);    
     
     //Setting the period and duty cycle for Servo motors
     pwm1.period_ms(20);
@@ -45,113 +65,247 @@
     pwm1.write(0);
     pwm2.write(0);
     
+    Thread thread(read_button);
+    
     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("Destionation Floor :%d\n",val);
-        pc.printf("Current Floor : %d\n",currentState);
-        wait(1);
-        if(val==currentState){
+        
+        // Take the first element if not empty    
+        if(press[0] > 0)              
+                val = press[0];   
+        else
+            continue;
+               
+        // Ignore if new pressed floor is same as current floor
+        // Remove the first value and left shift
+        if(val == currentState || val == 0){
             pwm3.write(0);
+            press[0] = press[1];
+            press[1] = press[2];
+            press[2] = press[3];
+            press[3] = 0; 
+            continue;
         }
-        else if(val > currentState){
-            closeGate(); //Close gate
-            //Move Up
-            dc1 = 0;
-            dc2 = 1;
-            pwm3.write(0.6);
-            //wait(2);
-            pc.printf("Floor Frequency value:%d\n",fvalues[val]);
-            while(1){
-                if(((frequency > (fvalues[val] - 20)) && (frequency < (fvalues[val] + 20)))){
-                    currentState = val;
-                    break;
+        
+        
+        
+                dir = 1;
+                flag_up = 1;
+                
+                while(dir == 1){
+               
+                        closeGate(); //Close gate
+                        printf("Moving up\n\n\n");
+                        printf("Destination Floor: %d\n",val);
+                        printf("Current Floor: %d\n",currentState);
+ 
+                        dc1 = 0;
+                        dc2 = 1;
+                        pwm3.write(0.1);
+                        printf("Destination Floor Frequency value:%d\n",fvalues[val]);
+                        
+                        while(1){
+                                if(((frequency > (fvalues[val] - 10)) && (frequency < (fvalues[val] + 10)))){
+                                    currentState = val;
+                                    openGate();
+                                    break;
+                                }
+                                //else{
+                                //    printf("current freq: %f\n",frequency);
+                                //}
+                        }
+                        
+                        //Check for any key presses greater than current floor
+                        for(i=0; i<4 ;i++){
+                            
+                                if(press[i]> 0 && press[i] > currentState ){
+                                    val = press[i];
+                                    press[i] = 0;
+                                    flag_up = 1;
+                                    break;             
+                                }
+                        }
+                        
+                        if(flag_up == 0)
+                            break;
+                            
+                  } //end of while dir
+                
+        
+        
+                dir = 0;
+                flag_down = 1;
+                
+                while(dir == 0){
+               
+                        closeGate(); //Close gate
+                        printf("Moving down\n\n\n");
+                        printf("Destination Floor: %d\n",val);
+                        printf("Current Floor: %d\n",currentState);
+                        dc1 = 1;
+                        dc2 = 0;
+                        pwm3.write(0.1);
+                        printf("Destination Floor Frequency value:%d\n",fvalues[val]);
+                        
+                        while(1){
+                                if(((frequency > (fvalues[val] - 10)) && (frequency < (fvalues[val] + 10)))){
+                                    currentState = val;
+                                    openGate();
+                                    break;
+                                }
+                                //else{
+                                //    printf("current freq: %f\n",frequency);
+                                //}
+                        }
+                        
+                        //Check for any key presses lesser than current floor
+                        for(i=4; i>=0 ;i++){
+                            
+                                if(press[i]> 0 && press[i] < currentState ){
+                                    val = press[i];
+                                    press[i] = 0;
+                                    flag_down = 1;
+                                    break;             
+                                }
+                        }
+                        
+                        if(flag_down == 0)
+                            break;
+                } //end of while dir
+                
+    }//end of outer while 1
+    
+} //end of main
+
+
+
+
+//Function to read the key pressed and store in array
+void read_button(void const *args) {
+    
+    int i,prev_val,val = 0;
+    printf("Entered thread\n");
+    
+    while (1) {
+         
+        if (press[3] == 0){   // Enter only if array is not full                     
+            
+            //float adc_val = button.read();
+            //int val = getState(adc_val);                          
+            char c = pc.getc();
+            val = c - 48;
+            printf("value entered : %d\n",val);
+            
+            if(val!= prev_val){ // If new floor is pressed
+                
+                prev_val = val; // Modify the previous value  
+    
+                if(dir == 1){ // If lift is goin up - check if read value is less than current destination                
+                    if((val < destinationState)){ // If the value is less than destination floor make the current value as destination
+                        addtoarray(destintionState);
+                        destintionState = val;   
+                    }
+                    else{ //if the value is greater than the destination, add it to the list 
+                        addtoarray(val);
+                    }
                 }
-                else{
-                    printf("current freq: %f\n",frequency);
-                }
+                
+                else if(dir == 0){ // If the lift is going down - check if read value is greater than current destination
+                    if((val > destinationState)){ // If the value is less than destination floor make the current value as destination
+                        addtoarray(destintionState);
+                        destintionState = val;   
+                    }
+                    else{ //if the value is lesser than the destination, add it to the list 
+                        addtoarray(val);
+                    }
+                }            
             }
-            pwm3.write(0);
-            openGate();
-            
-        }else{
-            closeGate(); //Close gate
-            //Move Down
-            dc1 = 1;
-            dc2 = 0;
-            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] - 20)) && (frequency < (fvalues[val] + 20)))){ 
-                    currentState = val;
-                    break;
-                }
-                else{
-                    printf("current freq: %f\n",frequency);
-                }
-            }
-            pwm3.write(0);
-            openGate();
-        }
-        //currentState = val;
+        }      
     }
 }
 
+
+
+//Funtion to remove first element in the array
+void removefirst(){
+    press[0] = 0;
+    press[1] = press[2];
+    press[2] = press[3];
+    press[3] = press[4];
+}
+
+//Function to add to array at the back
+void addtoarray(int val){   
+
+int i;
+
+    if(press[3] == 0){ //insert only if array is not full
+    
+        for(i=0;i<4;i++){
+            if(press[i] != 0){
+                press[i] = val;
+                break;        
+            }
+        }
+    ]
+    else
+        printf("The array is full\n");
+}
+    
+// Function to open gates
 void openGate(){
     pwm1.write(0.0375); // 3.75% duty cycle - Open the gate
     pwm2.write(0.1125);
-    //start_pwm2(1); // 11.25% duty cycle - Open the gate
     wait(2);
     pwm1.write(0);      // Stop
     pwm2.write(0);
 }
 
+// Function to close gates
 void closeGate(){
     pwm1.write(0.1125); // 11.25% duty cycle - Close the gate
     pwm2.write(0.0375);
-    //start_pwm2(0); // 3.75% duty cycle - Close the gate
     wait(2);
     pwm1.write(0);      // Stop
     pwm2.write(0); 
-    //start_pwm2(0); // 3.75% duty cycle - Close the gate    
 }
 
+// Funciton to get floor based on keypress voltage
 int getState(float adc_val){
-    int state = 1;
-    
+    int state;
+        
     if(adc_val > 0.15 && adc_val < 0.25){
         state = 2;
-        printf("%d\n",state);
+        printf("Button Press : %d\n",state);
     }
     else if(adc_val > 0.35 && adc_val < 0.45){
         state = 1;
-        printf("%d\n",state);
+        printf("Button Press : %d\n",state);
     }
     else if(adc_val > 0.55 && adc_val < 0.65){
         state = 3;
-        printf("%d\n",state);
+        printf("Button Press : %d\n",state);
     }
     else if(adc_val > 0.75 && adc_val < 0.85){
         state = 4;
-        printf("%d\n",state);
+        printf("Button Press : %d\n",state);
     }
     else if(adc_val > 0.95 && adc_val < 1.05){
         state = 5;
-        printf("%d\n",state);
+        printf("Button Press : %d\n",state);
     }
-    
+
     return state;           
 }
 
+
+// Function to check for rising edge
 void rising(){
     begin = timer.read_us();
     flag = true;
 }
+
+
+// Function to check for falling edge
 void falling(){
     if(flag == true){
         end = timer.read_us();
@@ -161,3 +315,29 @@
         flag = false;
     }
 }
+
+
+
+//Extra Stuff
+
+ 
+/*
+//Sorting the array
+printf("sorting array\n");
+    for (a = 0; a < 4; a++){
+        for (b = a + 1; b < 4; b++){
+            if (press[a] > 0 && press[b] > 0 && press[a] > press[b]){
+                temp =  press[a];
+                press[a] = press[b];
+                press[b] = temp;
+            }
+        }
+    }
+*/            
+
+
+/*
+//if(press[3] > 0){
+//printf("Queue size exceeded\n");
+//}
+*/        
\ No newline at end of file