main.cpp

00001 #include "mbed.h"
00002 #include "rtos.h
00003 
00004 PwmOut pwm1(p21);       //Servo Motor-1 PWM channel
00005 PwmOut pwm2(p22);       //Servo Motor-2 PWM channel
00006 
00007 DigitalOut dc1(p5);     //DC motor input-1
00008 DigitalOut dc2(p6);     //DC motor input-2
00009 PwmOut pwm3(p23);       //DC motor PWM channel
00010 
00011 AnalogIn button(p15);   //Analog input from the floor buttons
00012 InterruptIn event(p7);  //Interrupt for rising and falling edge detection from IR
00013 
00014 Timer timer;            //Timer to read falling and rising edge time
00015 Timer timer2;
00016 Serial pc(USBTX, USBRX);//Serial Communication
00017 
00018 //Functions
00019 void openGate();
00020 void closeGate();
00021 void rising();
00022 void falling();
00023 void read_button(void const *args);
00024 void addtoarray(int val);
00025 int getState(float adc_val);
00026 
00027 //Global variables
00028 int begin,end = 0;
00029 int dir = 1; // 1 is up and 0 is down
00030 int destinationState = 1; // Destination floor
00031 int currentState = 1; //Current floorfloat frequency = 0;
00032 
00033 //Global arrays
00034 int fvalues[] = {0,100,250,500,700,1000};
00035 int press[4]; // to store the total number of keypresses
00036 
00037 
00038 int main() {
00039     
00040     int val;
00041     int i,temp =0;
00042     int flag_up =0;
00043     int flag_down =0;
00044     
00045     press[0] = 0;
00046     press[1] = 0;
00047     press[2] = 0;
00048     press[3] = 0;
00049     
00050     timer.start();
00051     event.rise(&rising);
00052     event.fall(&falling);
00053     
00054     //Setting dc1 to high and dc2 to low initially
00055     dc1 = 0;
00056     dc2 = 1;
00057 
00058     //Setting the period and duty cycle for DC motors
00059     pwm3.period_ms(20);
00060     pwm3.write(0);    
00061     
00062     //Setting the period and duty cycle for Servo motors
00063     pwm1.period_ms(20);
00064     pwm2.period_ms(20);
00065     pwm1.write(0);
00066     pwm2.write(0);
00067     
00068     Thread thread(read_button);
00069     
00070     while(1){
00071         
00072         // Take the first element if not empty    
00073         if(press[0] > 0)              
00074                 val = press[0];   
00075         else
00076             continue;
00077                
00078         // Ignore if new pressed floor is same as current floor
00079         // Remove the first value and left shift
00080         if(val == currentState || val == 0){
00081             pwm3.write(0);
00082             press[0] = press[1];
00083             press[1] = press[2];
00084             press[2] = press[3];
00085             press[3] = 0; 
00086             continue;
00087         }
00088         
00089         
00090         
00091                 dir = 1;
00092                 flag_up = 1;
00093                 
00094                 while(dir == 1){
00095                
00096                         closeGate(); //Close gate
00097                         printf("Moving up\n\n\n");
00098                         printf("Destination Floor: %d\n",val);
00099                         printf("Current Floor: %d\n",currentState);
00100  
00101                         dc1 = 0;
00102                         dc2 = 1;
00103                         pwm3.write(0.1);
00104                         printf("Destination Floor Frequency value:%d\n",fvalues[val]);
00105                         
00106                         while(1){
00107                                 if(((frequency > (fvalues[val] - 10)) && (frequency < (fvalues[val] + 10)))){
00108                                     currentState = val;
00109                                     openGate();
00110                                     break;
00111                                 }
00112                                 //else{
00113                                 //    printf("current freq: %f\n",frequency);
00114                                 //}
00115                         }
00116                         
00117                         //Check for any key presses greater than current floor
00118                         for(i=0; i<4 ;i++){
00119                             
00120                                 if(press[i]> 0 && press[i] > currentState ){
00121                                     val = press[i];
00122                                     press[i] = 0;
00123                                     flag_up = 1;
00124                                     break;             
00125                                 }
00126                         }
00127                         
00128                         if(flag_up == 0)
00129                             break;
00130                             
00131                   } //end of while dir
00132                 
00133         
00134         
00135                 dir = 0;
00136                 flag_down = 1;
00137                 
00138                 while(dir == 0){
00139                
00140                         closeGate(); //Close gate
00141                         printf("Moving down\n\n\n");
00142                         printf("Destination Floor: %d\n",val);
00143                         printf("Current Floor: %d\n",currentState);
00144                         dc1 = 1;
00145                         dc2 = 0;
00146                         pwm3.write(0.1);
00147                         printf("Destination Floor Frequency value:%d\n",fvalues[val]);
00148                         
00149                         while(1){
00150                                 if(((frequency > (fvalues[val] - 10)) && (frequency < (fvalues[val] + 10)))){
00151                                     currentState = val;
00152                                     openGate();
00153                                     break;
00154                                 }
00155                                 //else{
00156                                 //    printf("current freq: %f\n",frequency);
00157                                 //}
00158                         }
00159                         
00160                         //Check for any key presses lesser than current floor
00161                         for(i=4; i>=0 ;i++){
00162                             
00163                                 if(press[i]> 0 && press[i] < currentState ){
00164                                     val = press[i];
00165                                     press[i] = 0;
00166                                     flag_down = 1;
00167                                     break;             
00168                                 }
00169                         }
00170                         
00171                         if(flag_down == 0)
00172                             break;
00173                 } //end of while dir
00174                 
00175     }//end of outer while 1
00176     
00177 } //end of main
00178 
00179 
00180 
00181 
00182 //Function to read the key pressed and store in array
00183 void read_button(void const *args) {
00184     
00185     int i,prev_val,val = 0;
00186     printf("Entered thread\n");
00187     
00188     while (1) {
00189          
00190         if (press[3] == 0){   // Enter only if array is not full                     
00191             
00192             //float adc_val = button.read();
00193             //int val = getState(adc_val);                          
00194             char c = pc.getc();
00195             val = c - 48;
00196             printf("value entered : %d\n",val);
00197             
00198             if(val!= prev_val){ // If new floor is pressed
00199                 
00200                 prev_val = val; // Modify the previous value  
00201     
00202                 if(dir == 1){ // If lift is goin up - check if read value is less than current destination                
00203                     if((val < destinationState)){ // If the value is less than destination floor make the current value as destination
00204                         addtoarray(destintionState);
00205                         destintionState = val;   
00206                     }
00207                     else{ //if the value is greater than the destination, add it to the list 
00208                         addtoarray(val);
00209                     }
00210                 }
00211                 
00212                 else if(dir == 0){ // If the lift is going down - check if read value is greater than current destination
00213                     if((val > destinationState)){ // If the value is less than destination floor make the current value as destination
00214                         addtoarray(destintionState);
00215                         destintionState = val;   
00216                     }
00217                     else{ //if the value is lesser than the destination, add it to the list 
00218                         addtoarray(val);
00219                     }
00220                 }            
00221             }
00222         }      
00223     }
00224 }
00225 
00226 
00227 
00228 //Funtion to remove first element in the array
00229 void removefirst(){
00230     press[0] = 0;
00231     press[1] = press[2];
00232     press[2] = press[3];
00233     press[3] = press[4];
00234 }
00235 
00236 //Function to add to array at the back
00237 void addtoarray(int val){   
00238 
00239 int i;
00240 
00241     if(press[3] == 0){ //insert only if array is not full
00242     
00243         for(i=0;i<4;i++){
00244             if(press[i] != 0){
00245                 press[i] = val;
00246                 break;        
00247             }
00248         }
00249     ]
00250     else
00251         printf("The array is full\n");
00252 }
00253     
00254 // Function to open gates
00255 void openGate(){
00256     pwm1.write(0.0375); // 3.75% duty cycle - Open the gate
00257     pwm2.write(0.1125);
00258     wait(2);
00259     pwm1.write(0);      // Stop
00260     pwm2.write(0);
00261 }
00262 
00263 // Function to close gates
00264 void closeGate(){
00265     pwm1.write(0.1125); // 11.25% duty cycle - Close the gate
00266     pwm2.write(0.0375);
00267     wait(2);
00268     pwm1.write(0);      // Stop
00269     pwm2.write(0); 
00270 }
00271 
00272 // Funciton to get floor based on keypress voltage
00273 int getState(float adc_val){
00274     int state;
00275         
00276     if(adc_val > 0.15 && adc_val < 0.25){
00277         state = 2;
00278         printf("Button Press : %d\n",state);
00279     }
00280     else if(adc_val > 0.35 && adc_val < 0.45){
00281         state = 1;
00282         printf("Button Press : %d\n",state);
00283     }
00284     else if(adc_val > 0.55 && adc_val < 0.65){
00285         state = 3;
00286         printf("Button Press : %d\n",state);
00287     }
00288     else if(adc_val > 0.75 && adc_val < 0.85){
00289         state = 4;
00290         printf("Button Press : %d\n",state);
00291     }
00292     else if(adc_val > 0.95 && adc_val < 1.05){
00293         state = 5;
00294         printf("Button Press : %d\n",state);
00295     }
00296 
00297     return state;           
00298 }
00299 
00300 
00301 // Function to check for rising edge
00302 void rising(){
00303     begin = timer.read_us();
00304     flag = true;
00305 }
00306 
00307 
00308 // Function to check for falling edge
00309 void falling(){
00310     if(flag == true){
00311         end = timer.read_us();
00312         frequency = 500000/(end-begin);
00313         begin = 0;
00314         end = 0;
00315         flag = false;
00316     }
00317 }
00318 
00319 
00320 
00321 //Extra Stuff
00322 
00323  
00324 /*
00325 //Sorting the array
00326 printf("sorting array\n");
00327     for (a = 0; a < 4; a++){
00328         for (b = a + 1; b < 4; b++){
00329             if (press[a] > 0 && press[b] > 0 && press[a] > press[b]){
00330                 temp =  press[a];
00331                 press[a] = press[b];
00332                 press[b] = temp;
00333             }
00334         }
00335     }
00336 */            
00337 
00338 
00339 /*
00340 //if(press[3] > 0){
00341 //printf("Queue size exceeded\n");
00342 //}
00343 */