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Dependencies:   mbed

main.cpp@7:3bed3e005200, 2015-10-15 (annotated)

Committer:
prithviganeshk
Date:
Thu Oct 15 03:54:33 2015 +0000
Revision:
7:3bed3e005200
Parent:
6:625384a34dd5
Child:
8:7e3f92f0dc47
demo'd with this code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jiteshg 2:bf817b299c19 1
jiteshg 0:fd080fb55bae 2 #include "mbed.h"
jiteshg 2:bf817b299c19 3 PwmOut pwm1(p21); //Servo Motor-1 PWM channel
jiteshg 2:bf817b299c19 4 PwmOut pwm2(p22); //Servo Motor-2 PWM channel
jiteshg 2:bf817b299c19 5
jiteshg 2:bf817b299c19 6 DigitalOut dc1(p5); //DC motor input-1
jiteshg 2:bf817b299c19 7 DigitalOut dc2(p6); //DC motor input-2
jiteshg 2:bf817b299c19 8 PwmOut pwm3(p23); //DC motor PWM channel
jiteshg 2:bf817b299c19 9
jiteshg 3:66a52943c525 10 AnalogIn button(p15); //Analog input from the floor buttons
jiteshg 4:acb62dee5ba9 11 InterruptIn event(p7); //Interrupt for rising and falling edge detection from IR
jiteshg 3:66a52943c525 12
jiteshg 4:acb62dee5ba9 13 Timer timer; //Timer to read falling and rising edge time
prithviganeshk 7:3bed3e005200 14
jiteshg 4:acb62dee5ba9 15 Serial pc(USBTX, USBRX);//Serial Communication
jiteshg 0:fd080fb55bae 16
jiteshg 2:bf817b299c19 17 void openGate();
jiteshg 2:bf817b299c19 18 void closeGate();
jiteshg 4:acb62dee5ba9 19 void rising();
jiteshg 4:acb62dee5ba9 20 void falling();
jiteshg 4:acb62dee5ba9 21
jiteshg 3:66a52943c525 22 int getState(float adc_val);
jiteshg 3:66a52943c525 23
jiteshg 2:bf817b299c19 24 int currentState = 1;
jiteshg 4:acb62dee5ba9 25 int begin,end = 0;
jiteshg 4:acb62dee5ba9 26 float frequency = 0;
jiteshg 4:acb62dee5ba9 27 bool flag = false;
jiteshg 5:7b4575bf205e 28 //int fvalues[] = {0,100,250,500,700,1000};
prithviganeshk 7:3bed3e005200 29 int fvalues[] = {0,100,250,500,700,700};
prithviganeshk 7:3bed3e005200 30 //int fvalues[] = {0,102,270,615,948,1623};
jiteshg 2:bf817b299c19 31
jiteshg 0:fd080fb55bae 32 int main() {
jiteshg 4:acb62dee5ba9 33 timer.start();
jiteshg 4:acb62dee5ba9 34 event.rise(&rising);
jiteshg 4:acb62dee5ba9 35 event.fall(&falling);
jiteshg 2:bf817b299c19 36 //Setting dc1 to high and dc2 to low initially
jiteshg 4:acb62dee5ba9 37 dc1 = 0;
jiteshg 4:acb62dee5ba9 38 dc2 = 1;
jiteshg 2:bf817b299c19 39 pwm3.period_ms(20);
jiteshg 2:bf817b299c19 40 pwm3.write(0);
jiteshg 2:bf817b299c19 41
jiteshg 2:bf817b299c19 42 //Setting the period and duty cycle for Servo motors
jiteshg 0:fd080fb55bae 43 pwm1.period_ms(20);
jiteshg 2:bf817b299c19 44 pwm2.period_ms(20);
jiteshg 2:bf817b299c19 45 pwm1.write(0);
jiteshg 2:bf817b299c19 46 pwm2.write(0);
jiteshg 1:8c73948a0864 47
jiteshg 1:8c73948a0864 48 while(1){
prithviganeshk 7:3bed3e005200 49 printf("Frequency:-%f\n", frequency);
prithviganeshk 7:3bed3e005200 50 //char c = pc.getc();
prithviganeshk 7:3bed3e005200 51 //int val = c - 48;
prithviganeshk 7:3bed3e005200 52 float adc_val = button.read();
prithviganeshk 7:3bed3e005200 53 int val = getState(adc_val);
prithviganeshk 7:3bed3e005200 54 pc.printf("Destionation Floor :%d\n",val);
prithviganeshk 7:3bed3e005200 55 pc.printf("Current Floor : %d\n",currentState);
jiteshg 4:acb62dee5ba9 56 wait(1);
jiteshg 2:bf817b299c19 57 if(val==currentState){
jiteshg 2:bf817b299c19 58 pwm3.write(0);
jiteshg 2:bf817b299c19 59 }
jiteshg 2:bf817b299c19 60 else if(val > currentState){
jiteshg 4:acb62dee5ba9 61 closeGate(); //Close gate
jiteshg 2:bf817b299c19 62 //Move Up
jiteshg 4:acb62dee5ba9 63 dc1 = 0;
jiteshg 4:acb62dee5ba9 64 dc2 = 1;
prithviganeshk 7:3bed3e005200 65 pwm3.write(0.6);
jiteshg 4:acb62dee5ba9 66 //wait(2);
jiteshg 4:acb62dee5ba9 67 pc.printf("Floor Frequency value:%d\n",fvalues[val]);
jiteshg 4:acb62dee5ba9 68 while(1){
prithviganeshk 7:3bed3e005200 69 if(((frequency > (fvalues[val] - 20)) && (frequency < (fvalues[val] + 20)))){
prithviganeshk 7:3bed3e005200 70 currentState = val;
jiteshg 4:acb62dee5ba9 71 break;
jiteshg 4:acb62dee5ba9 72 }
prithviganeshk 7:3bed3e005200 73 else{
prithviganeshk 7:3bed3e005200 74 printf("current freq: %f\n",frequency);
prithviganeshk 7:3bed3e005200 75 }
jiteshg 4:acb62dee5ba9 76 }
jiteshg 4:acb62dee5ba9 77 pwm3.write(0);
jiteshg 4:acb62dee5ba9 78 openGate();
prithviganeshk 7:3bed3e005200 79
jiteshg 4:acb62dee5ba9 80 }else{
jiteshg 4:acb62dee5ba9 81 closeGate(); //Close gate
jiteshg 4:acb62dee5ba9 82 //Move Down
jiteshg 2:bf817b299c19 83 dc1 = 1;
jiteshg 2:bf817b299c19 84 dc2 = 0;
prithviganeshk 7:3bed3e005200 85 pwm3.write(0.6);
jiteshg 4:acb62dee5ba9 86 //wait(2);
jiteshg 4:acb62dee5ba9 87 pc.printf("Floor Frequency value:-%d\n",fvalues[val]);
jiteshg 4:acb62dee5ba9 88 //while(!((frequency > (fvalues[val] - 50)) && (frequency < (fvalues[val] + 50))));
jiteshg 4:acb62dee5ba9 89 while(1){
prithviganeshk 7:3bed3e005200 90 if(((frequency > (fvalues[val] - 20)) && (frequency < (fvalues[val] + 20)))){
prithviganeshk 7:3bed3e005200 91 currentState = val;
jiteshg 4:acb62dee5ba9 92 break;
jiteshg 4:acb62dee5ba9 93 }
prithviganeshk 7:3bed3e005200 94 else{
prithviganeshk 7:3bed3e005200 95 printf("current freq: %f\n",frequency);
prithviganeshk 7:3bed3e005200 96 }
jiteshg 4:acb62dee5ba9 97 }
jiteshg 2:bf817b299c19 98 pwm3.write(0);
jiteshg 4:acb62dee5ba9 99 openGate();
jiteshg 1:8c73948a0864 100 }
prithviganeshk 7:3bed3e005200 101 //currentState = val;
jiteshg 1:8c73948a0864 102 }
jiteshg 2:bf817b299c19 103 }
jiteshg 2:bf817b299c19 104
jiteshg 2:bf817b299c19 105 void openGate(){
jiteshg 2:bf817b299c19 106 pwm1.write(0.0375); // 3.75% duty cycle - Open the gate
prithviganeshk 6:625384a34dd5 107 pwm2.write(0.1125);
prithviganeshk 6:625384a34dd5 108 //start_pwm2(1); // 11.25% duty cycle - Open the gate
prithviganeshk 6:625384a34dd5 109 wait(2);
jiteshg 2:bf817b299c19 110 pwm1.write(0); // Stop
prithviganeshk 6:625384a34dd5 111 pwm2.write(0);
jiteshg 0:fd080fb55bae 112 }
jiteshg 2:bf817b299c19 113
jiteshg 2:bf817b299c19 114 void closeGate(){
jiteshg 2:bf817b299c19 115 pwm1.write(0.1125); // 11.25% duty cycle - Close the gate
prithviganeshk 6:625384a34dd5 116 pwm2.write(0.0375);
prithviganeshk 6:625384a34dd5 117 //start_pwm2(0); // 3.75% duty cycle - Close the gate
prithviganeshk 6:625384a34dd5 118 wait(2);
jiteshg 2:bf817b299c19 119 pwm1.write(0); // Stop
prithviganeshk 6:625384a34dd5 120 pwm2.write(0);
prithviganeshk 6:625384a34dd5 121 //start_pwm2(0); // 3.75% duty cycle - Close the gate
jiteshg 3:66a52943c525 122 }
jiteshg 3:66a52943c525 123
jiteshg 3:66a52943c525 124 int getState(float adc_val){
prithviganeshk 7:3bed3e005200 125 int state = 1;
prithviganeshk 7:3bed3e005200 126
jiteshg 3:66a52943c525 127 if(adc_val > 0.15 && adc_val < 0.25){
prithviganeshk 7:3bed3e005200 128 state = 2;
prithviganeshk 7:3bed3e005200 129 printf("%d\n",state);
jiteshg 3:66a52943c525 130 }
jiteshg 3:66a52943c525 131 else if(adc_val > 0.35 && adc_val < 0.45){
prithviganeshk 7:3bed3e005200 132 state = 1;
prithviganeshk 7:3bed3e005200 133 printf("%d\n",state);
jiteshg 3:66a52943c525 134 }
jiteshg 3:66a52943c525 135 else if(adc_val > 0.55 && adc_val < 0.65){
jiteshg 3:66a52943c525 136 state = 3;
prithviganeshk 7:3bed3e005200 137 printf("%d\n",state);
jiteshg 3:66a52943c525 138 }
jiteshg 3:66a52943c525 139 else if(adc_val > 0.75 && adc_val < 0.85){
jiteshg 3:66a52943c525 140 state = 4;
prithviganeshk 7:3bed3e005200 141 printf("%d\n",state);
jiteshg 3:66a52943c525 142 }
jiteshg 3:66a52943c525 143 else if(adc_val > 0.95 && adc_val < 1.05){
jiteshg 3:66a52943c525 144 state = 5;
prithviganeshk 7:3bed3e005200 145 printf("%d\n",state);
jiteshg 3:66a52943c525 146 }
prithviganeshk 7:3bed3e005200 147
jiteshg 3:66a52943c525 148 return state;
jiteshg 4:acb62dee5ba9 149 }
jiteshg 4:acb62dee5ba9 150
jiteshg 4:acb62dee5ba9 151 void rising(){
jiteshg 4:acb62dee5ba9 152 begin = timer.read_us();
jiteshg 4:acb62dee5ba9 153 flag = true;
jiteshg 4:acb62dee5ba9 154 }
jiteshg 4:acb62dee5ba9 155 void falling(){
jiteshg 4:acb62dee5ba9 156 if(flag == true){
jiteshg 4:acb62dee5ba9 157 end = timer.read_us();
jiteshg 4:acb62dee5ba9 158 frequency = 500000/(end-begin);
jiteshg 4:acb62dee5ba9 159 begin = 0;
jiteshg 4:acb62dee5ba9 160 end = 0;
jiteshg 4:acb62dee5ba9 161 flag = false;
jiteshg 4:acb62dee5ba9 162 }
prithviganeshk 6:625384a34dd5 163 }