Railway Challenge / Mbed OS Railway Challenge 2022-23

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Dependencies:   millis

main.cpp@28:1086791972d0, 2022-06-15 (annotated)

Committer:
cdevarakonda
Date:
Wed Jun 15 13:36:11 2022 +0000
Revision:
28:1086791972d0
Parent:
27:5f801d4ca461
Child:
29:2ed4d9c309fc
Update brakes pins, created brakes class and made new functions but still to be tested;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rwcjoliver 0:4788e1df7b55 1 #include <mbed.h>
rwcjoliver 0:4788e1df7b55 2 #include "millis.h"
cdevarakonda 28:1086791972d0 3 #include "brakes.h"
rwcjoliver 0:4788e1df7b55 4 #include "definitions.h"
rwcjoliver 0:4788e1df7b55 5 #include "remoteControl.h"
rwcjoliver 0:4788e1df7b55 6 #include "dashboard.h"
rwcjoliver 0:4788e1df7b55 7 #include "rtc.h"
rwcjoliver 0:4788e1df7b55 8 #include "motor.h"
rwcjoliver 0:4788e1df7b55 9 #include "challenge.h"
jamesmcildowietfl 3:32e951e05a5b 10 #include <sstream>
jamesmcildowietfl 3:32e951e05a5b 11 using std::string;
rwcjoliver 0:4788e1df7b55 12
rwcjoliver 0:4788e1df7b55 13 // SET UP REMOTE CONTROL COMMS
rwcjoliver 0:4788e1df7b55 14 SPI remoteControl(PE_14, PE_13, PE_12); // (SPI_MOSI, SPI_MISO, SPI_SCK)
rwcjoliver 0:4788e1df7b55 15 DigitalOut remoteControlCS(PE_11); // (SPI_SS)
rwcjoliver 0:4788e1df7b55 16
rwcjoliver 0:4788e1df7b55 17 // CREATE OBJECTS
rwcjoliver 0:4788e1df7b55 18 Remote remote(remoteControl, remoteControlCS);
rwcjoliver 0:4788e1df7b55 19 Dashboard dashboard(hallSensor);
rwcjoliver 0:4788e1df7b55 20 RoundTrainCircuit rtc(rtc_1, rtc_2, rtc_3, rtc_4, rtc_5, rtc_6, rtc_7, rtc_override);
rwcjoliver 0:4788e1df7b55 21 Motor motor1(motorAccelerator, motorBrake, keySwitchM1, directionFwd, directionRev, footswitchM1, seatM1, inchFwdM1, speedLimit2M1, speedLimit3M1);
rwcjoliver 0:4788e1df7b55 22 ChallengeMode challenge(autoStopTrigger, dashboard, remote, motor1);
cdevarakonda 28:1086791972d0 23 Brakes brakes1();
rwcjoliver 0:4788e1df7b55 24
rwcjoliver 0:4788e1df7b55 25 int driveMode = 2; // Drive mode - fwd(0), rev(1), park(2)
rwcjoliver 0:4788e1df7b55 26 bool emergencyStopActive = false;
rwcjoliver 0:4788e1df7b55 27
rwcjoliver 0:4788e1df7b55 28 // FUNCTIONS
rwcjoliver 0:4788e1df7b55 29
jamesmcildowietfl 3:32e951e05a5b 30 //Display Function for data logger
jamesmcildowietfl 18:d28d458824d4 31 void DisplaySerial(){
jamesmcildowietfl 18:d28d458824d4 32 std::stringstream displayline;
jamesmcildowietfl 19:a4afd3a6bdfb 33 displayline << "Blackbox# " << " Motor Accelerator: " << motorAccelerator << " Brake 3/2: " << brakeValve32 << " Brake 2/2: " << brakeValve22 << " Speed: " << dashboard.currentSpeed << " Distance: " << dashboard.currentDistance << " Drive Mode: " << driveMode << "\n";
jamesmcildowietfl 20:0add93a69df5 34 string disp = displayline.str();
jamesmcildowietfl 20:0add93a69df5 35 pc.printf("%s \n", disp.c_str());
jamesmcildowietfl 18:d28d458824d4 36 }
jamesmcildowietfl 18:d28d458824d4 37
jamesmcildowietfl 18:d28d458824d4 38 //Emergency Stop
jamesmcildowietfl 8:0fe9f7bde2f9 39 void emergencyStop() { //Emergency Stop Function
jamesmcildowietfl 8:0fe9f7bde2f9 40 // pc.printf("Emergency Stop Active\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 41 if (emergencyStopActive == false) {
jamesmcildowietfl 3:32e951e05a5b 42
jamesmcildowietfl 8:0fe9f7bde2f9 43 emergencyStopActive = true;
jamesmcildowietfl 18:d28d458824d4 44
jamesmcildowietfl 8:0fe9f7bde2f9 45 //Set brake throttle to zero before disconnected, think is why we had the runaway train imo
jamesmcildowietfl 8:0fe9f7bde2f9 46 motor1.throttle(0);
rwcjoliver 0:4788e1df7b55 47
jamesmcildowietfl 8:0fe9f7bde2f9 48 //Disengage motor
jamesmcildowietfl 18:d28d458824d4 49 motor1.disengage();
jamesmcildowietfl 8:0fe9f7bde2f9 50
jamesmcildowietfl 8:0fe9f7bde2f9 51 //Setting brakes to high
jamesmcildowietfl 8:0fe9f7bde2f9 52 brakeValve32 = 0;//(PF_2)
jamesmcildowietfl 18:d28d458824d4 53 brakeValve22 = 0;//(PF_8)
jamesmcildowietfl 8:0fe9f7bde2f9 54 if (rtc_output.read() == 1) { //Check RTC pin out
jamesmcildowietfl 8:0fe9f7bde2f9 55 rtc.getTriggerCause(); // Get RTC input status
rwcjoliver 0:4788e1df7b55 56 }
jamesmcildowietfl 8:0fe9f7bde2f9 57 }
rwcjoliver 0:4788e1df7b55 58 }
rwcjoliver 0:4788e1df7b55 59
jamesmcildowietfl 18:d28d458824d4 60 //Brake code
cdevarakonda 27:5f801d4ca461 61 void brakeControl(int brakeRate) { //set brake rate to float for regen
jamesmcildowietfl 18:d28d458824d4 62 if (driveMode == 2) { // PARK MODE
jamesmcildowietfl 8:0fe9f7bde2f9 63 // All Mechanical brakes applied
jamesmcildowietfl 18:d28d458824d4 64 motor1.throttle(0.0f);
jamesmcildowietfl 18:d28d458824d4 65 brakeValve32 = 0;
jamesmcildowietfl 18:d28d458824d4 66 brakeValve22 = 0;
cdevarakonda 28:1086791972d0 67 //brakes1.BrakesOn();
jamesmcildowietfl 18:d28d458824d4 68 }
jamesmcildowietfl 18:d28d458824d4 69 else {//REGEN BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 70 if (challenge.regenBrakingActive == true) { // REGEN BRAKING WITH OVERVOLTAGE SAFETY CHECK
cdevarakonda 25:1e42ee248b89 71 //motor1.setPark();
cdevarakonda 27:5f801d4ca461 72 switch (brakeRate) { //using switch cases like throttle to set regen braking brake tate with values between 0.1f and 1.0f which represents analog pin out values upto 3.3V
cdevarakonda 27:5f801d4ca461 73
cdevarakonda 27:5f801d4ca461 74
cdevarakonda 27:5f801d4ca461 75 default:
cdevarakonda 27:5f801d4ca461 76 break;
cdevarakonda 27:5f801d4ca461 77
cdevarakonda 27:5f801d4ca461 78 case 0:
cdevarakonda 27:5f801d4ca461 79 motor1.brake(0.0f);
cdevarakonda 27:5f801d4ca461 80 break;
cdevarakonda 27:5f801d4ca461 81
cdevarakonda 27:5f801d4ca461 82 case 1:
cdevarakonda 27:5f801d4ca461 83 motor1.brake(0.25f);
cdevarakonda 27:5f801d4ca461 84 break;
cdevarakonda 27:5f801d4ca461 85
cdevarakonda 27:5f801d4ca461 86 case 2:
cdevarakonda 27:5f801d4ca461 87 motor1.brake(0.5f);
cdevarakonda 27:5f801d4ca461 88 break;
cdevarakonda 27:5f801d4ca461 89
cdevarakonda 27:5f801d4ca461 90 case 3:
cdevarakonda 27:5f801d4ca461 91 motor1.brake(0.75f);
cdevarakonda 27:5f801d4ca461 92 break;
cdevarakonda 27:5f801d4ca461 93
cdevarakonda 27:5f801d4ca461 94 case 4:
cdevarakonda 27:5f801d4ca461 95 motor1.brake(1.0f);
cdevarakonda 27:5f801d4ca461 96 break;
jamesmcildowietfl 8:0fe9f7bde2f9 97 }
cdevarakonda 26:6275acef6bfd 98 //else {
cdevarakonda 26:6275acef6bfd 99 //motor1.setForward();
cdevarakonda 28:1086791972d0 100 }
cdevarakonda 27:5f801d4ca461 101
jamesmcildowietfl 8:0fe9f7bde2f9 102 else { // MECHANICAL BRAKING
cdevarakonda 27:5f801d4ca461 103 // int bR=static_cast <int>(brakeRate); //type casting brake rate to int for mechanical cases
jamesmcildowietfl 8:0fe9f7bde2f9 104 switch (brakeRate) {
jamesmcildowietfl 8:0fe9f7bde2f9 105 case 0: // NO BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 106 brakeValve32 = 1;//(PF_2)
jamesmcildowietfl 18:d28d458824d4 107 brakeValve22 = 1;//(PF_8)
jamesmcildowietfl 8:0fe9f7bde2f9 108 break;
jamesmcildowietfl 8:0fe9f7bde2f9 109
jamesmcildowietfl 8:0fe9f7bde2f9 110 case 1: //HALF BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 111 motor1.throttle(0.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 112 brakeValve32 = 0;//(PF_2)
jamesmcildowietfl 18:d28d458824d4 113 brakeValve22 = 1;//(PF_8)
jamesmcildowietfl 8:0fe9f7bde2f9 114 break;
jamesmcildowietfl 2:d8d92dfc9c82 115
jamesmcildowietfl 8:0fe9f7bde2f9 116 case 2 ... 4 : //FULL BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 117 motor1.throttle(0.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 118 brakeValve32 = 0;//(PF_2)
jamesmcildowietfl 18:d28d458824d4 119 brakeValve22 = 0;//(PF_8)
jamesmcildowietfl 8:0fe9f7bde2f9 120 break;
jamesmcildowietfl 8:0fe9f7bde2f9 121
jamesmcildowietfl 8:0fe9f7bde2f9 122 default: // NO BRAKING
jamesmcildowietfl 18:d28d458824d4 123 brakeValve32 = 1;//(PF_2)
jamesmcildowietfl 18:d28d458824d4 124 brakeValve22 = 1;//(PF_8)
jamesmcildowietfl 8:0fe9f7bde2f9 125 break;
jamesmcildowietfl 8:0fe9f7bde2f9 126 }
jamesmcildowietfl 8:0fe9f7bde2f9 127 }
jamesmcildowietfl 18:d28d458824d4 128 }
jamesmcildowietfl 8:0fe9f7bde2f9 129 return;
rwcjoliver 0:4788e1df7b55 130 }
rwcjoliver 0:4788e1df7b55 131
jamesmcildowietfl 8:0fe9f7bde2f9 132 //Motor code
rwcjoliver 0:4788e1df7b55 133 void speedControl(int commandedSpeed) {
jamesmcildowietfl 8:0fe9f7bde2f9 134 switch (commandedSpeed) {
jamesmcildowietfl 8:0fe9f7bde2f9 135
jamesmcildowietfl 8:0fe9f7bde2f9 136 default:
jamesmcildowietfl 8:0fe9f7bde2f9 137 break;
jamesmcildowietfl 8:0fe9f7bde2f9 138
jamesmcildowietfl 8:0fe9f7bde2f9 139 case 0:
jamesmcildowietfl 8:0fe9f7bde2f9 140 motor1.throttle(0.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 141 break;
jamesmcildowietfl 8:0fe9f7bde2f9 142
jamesmcildowietfl 8:0fe9f7bde2f9 143 case 1 ... 2:
jamesmcildowietfl 8:0fe9f7bde2f9 144 motor1.throttle(0.1f);
jamesmcildowietfl 8:0fe9f7bde2f9 145 break;
jamesmcildowietfl 8:0fe9f7bde2f9 146
jamesmcildowietfl 8:0fe9f7bde2f9 147 case 3 ... 4:
jamesmcildowietfl 8:0fe9f7bde2f9 148 motor1.throttle(0.2f);
jamesmcildowietfl 8:0fe9f7bde2f9 149 break;
jamesmcildowietfl 8:0fe9f7bde2f9 150
jamesmcildowietfl 8:0fe9f7bde2f9 151 case 5 ... 6:
jamesmcildowietfl 8:0fe9f7bde2f9 152 motor1.throttle(0.3f);
jamesmcildowietfl 8:0fe9f7bde2f9 153 break;
jamesmcildowietfl 8:0fe9f7bde2f9 154
jamesmcildowietfl 8:0fe9f7bde2f9 155 case 7 ... 8:
jamesmcildowietfl 8:0fe9f7bde2f9 156 motor1.throttle(0.4f);
jamesmcildowietfl 8:0fe9f7bde2f9 157 break;
jamesmcildowietfl 8:0fe9f7bde2f9 158
jamesmcildowietfl 8:0fe9f7bde2f9 159 case 9 ... 10:
jamesmcildowietfl 8:0fe9f7bde2f9 160 motor1.throttle(0.5f);
jamesmcildowietfl 8:0fe9f7bde2f9 161 break;
jamesmcildowietfl 8:0fe9f7bde2f9 162
jamesmcildowietfl 8:0fe9f7bde2f9 163 case 11:
jamesmcildowietfl 8:0fe9f7bde2f9 164 motor1.throttle(0.6f);
jamesmcildowietfl 8:0fe9f7bde2f9 165 break;
jamesmcildowietfl 8:0fe9f7bde2f9 166
jamesmcildowietfl 8:0fe9f7bde2f9 167 case 12:
jamesmcildowietfl 8:0fe9f7bde2f9 168 motor1.throttle(0.7f);
jamesmcildowietfl 8:0fe9f7bde2f9 169 break;
jamesmcildowietfl 8:0fe9f7bde2f9 170
jamesmcildowietfl 8:0fe9f7bde2f9 171 case 13:
jamesmcildowietfl 8:0fe9f7bde2f9 172 motor1.throttle(0.8f);
jamesmcildowietfl 8:0fe9f7bde2f9 173 break;
jamesmcildowietfl 8:0fe9f7bde2f9 174
jamesmcildowietfl 8:0fe9f7bde2f9 175 case 14:
jamesmcildowietfl 8:0fe9f7bde2f9 176 motor1.throttle(0.9f);
jamesmcildowietfl 8:0fe9f7bde2f9 177 break;
jamesmcildowietfl 8:0fe9f7bde2f9 178
jamesmcildowietfl 8:0fe9f7bde2f9 179 case 15:
jamesmcildowietfl 8:0fe9f7bde2f9 180 motor1.throttle(1.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 181 break;
jamesmcildowietfl 8:0fe9f7bde2f9 182 }
rwcjoliver 0:4788e1df7b55 183 }
rwcjoliver 0:4788e1df7b55 184
jamesmcildowietfl 8:0fe9f7bde2f9 185 int main() {
jamesmcildowietfl 8:0fe9f7bde2f9 186 pc.baud(115200);
jamesmcildowietfl 8:0fe9f7bde2f9 187
jamesmcildowietfl 8:0fe9f7bde2f9 188 // CONFIGURE INTERRUPTS
jamesmcildowietfl 8:0fe9f7bde2f9 189 rtc_output.rise(&emergencyStop);
jamesmcildowietfl 8:0fe9f7bde2f9 190
jamesmcildowietfl 8:0fe9f7bde2f9 191 millisStart();
jamesmcildowietfl 8:0fe9f7bde2f9 192
jamesmcildowietfl 8:0fe9f7bde2f9 193 rtc_Trigger = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 194
jamesmcildowietfl 8:0fe9f7bde2f9 195 // LOCAL VARIABLES
jamesmcildowietfl 8:0fe9f7bde2f9 196 bool systemOn = false; // On/Off status of loco
jamesmcildowietfl 8:0fe9f7bde2f9 197 int lastKnownDirection = 2;
jamesmcildowietfl 8:0fe9f7bde2f9 198 bool inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 199
jamesmcildowietfl 8:0fe9f7bde2f9 200 // Record last time error was sent
jamesmcildowietfl 8:0fe9f7bde2f9 201 unsigned long lastErrorMillis = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 202
jamesmcildowietfl 8:0fe9f7bde2f9 203 //MainLoop
jamesmcildowietfl 8:0fe9f7bde2f9 204 while (1) {
jamesmcildowietfl 8:0fe9f7bde2f9 205
jamesmcildowietfl 8:0fe9f7bde2f9 206 while (remote.commsGood == true) {
jamesmcildowietfl 8:0fe9f7bde2f9 207 /////Start Up///////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 208
jamesmcildowietfl 8:0fe9f7bde2f9 209 /////Checking Modes from controller/////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 210 // PING
jamesmcildowietfl 8:0fe9f7bde2f9 211 remote.commsCheck();
jamesmcildowietfl 8:0fe9f7bde2f9 212
jamesmcildowietfl 8:0fe9f7bde2f9 213 // GET SWITCH STATES
jamesmcildowietfl 8:0fe9f7bde2f9 214 remote.getSwitchStates();
jamesmcildowietfl 8:0fe9f7bde2f9 215
jamesmcildowietfl 8:0fe9f7bde2f9 216 // ALLOW BRAKES TO BE OPERATED
jamesmcildowietfl 8:0fe9f7bde2f9 217 brakeControl(remote.braking);
jamesmcildowietfl 8:0fe9f7bde2f9 218
jamesmcildowietfl 8:0fe9f7bde2f9 219 // SOUND WHISTLE IF WHISTLE BUTTON PRESSED
jamesmcildowietfl 8:0fe9f7bde2f9 220 if (remote.whistle == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 221 whistleValve32 = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 222 }
jamesmcildowietfl 8:0fe9f7bde2f9 223 else {
jamesmcildowietfl 8:0fe9f7bde2f9 224 whistleValve32 = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 225 }
jamesmcildowietfl 8:0fe9f7bde2f9 226
jamesmcildowietfl 8:0fe9f7bde2f9 227 // GET AND DISPLAY SPEED
jamesmcildowietfl 8:0fe9f7bde2f9 228 dashboard.getCurrentSpeed();
jamesmcildowietfl 8:0fe9f7bde2f9 229 remote.sendData(2, dashboard.currentSpeed); // Send speed to remote
jamesmcildowietfl 8:0fe9f7bde2f9 230
jamesmcildowietfl 8:0fe9f7bde2f9 231 // TOGGLE COMPRESSOR
jamesmcildowietfl 8:0fe9f7bde2f9 232 remote.compressor == 0 ? contactCompressor = 1 : contactCompressor = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 233
jamesmcildowietfl 8:0fe9f7bde2f9 234 // TOGGLE MOTOR CONTROLLER DEADMAN (SEAT SWITCH AND FOOTBRAKE)
jamesmcildowietfl 8:0fe9f7bde2f9 235 if (rtc.deadman == 0) { // IF DEADMAN PRESSED
jamesmcildowietfl 8:0fe9f7bde2f9 236 motor1.closeDeadman();
jamesmcildowietfl 8:0fe9f7bde2f9 237 }
jamesmcildowietfl 8:0fe9f7bde2f9 238 else {
jamesmcildowietfl 8:0fe9f7bde2f9 239 motor1.releaseDeadman();
jamesmcildowietfl 8:0fe9f7bde2f9 240 }
jamesmcildowietfl 8:0fe9f7bde2f9 241
jamesmcildowietfl 8:0fe9f7bde2f9 242 // TOGGLE REGEN THROTTLING
jamesmcildowietfl 8:0fe9f7bde2f9 243 if (challenge.regenThrottleActive == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 244 if (remote.regenThrottle == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 245 challenge.regenThrottleOn();
rwcjoliver 0:4788e1df7b55 246 }
jamesmcildowietfl 8:0fe9f7bde2f9 247 }
jamesmcildowietfl 8:0fe9f7bde2f9 248 else {
jamesmcildowietfl 8:0fe9f7bde2f9 249 remote.sendError('B'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 250 if (remote.regenThrottle == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 251 challenge.regenThrottleOff();
jamesmcildowietfl 8:0fe9f7bde2f9 252 }
jamesmcildowietfl 8:0fe9f7bde2f9 253 }
rwcjoliver 0:4788e1df7b55 254
jamesmcildowietfl 8:0fe9f7bde2f9 255 // TOGGLE REGEN BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 256 if (challenge.regenBrakingActive == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 257 if (remote.regenBrake == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 258 if (challenge.regenBrakingOn() == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 259 remote.sendError('I'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 260 pc.printf("Regen Braking Off - SuperCaps are full\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 261 }
jamesmcildowietfl 8:0fe9f7bde2f9 262 }
jamesmcildowietfl 8:0fe9f7bde2f9 263 }
jamesmcildowietfl 8:0fe9f7bde2f9 264 else {
jamesmcildowietfl 8:0fe9f7bde2f9 265 remote.sendError('C'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 266 if (remote.regenBrake == 1) { // TURN OFF
jamesmcildowietfl 8:0fe9f7bde2f9 267 challenge.regenBrakingOff();
jamesmcildowietfl 8:0fe9f7bde2f9 268 if (superCapVoltage == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 269 pc.printf("Regen Braking Off - SuperCaps are full\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 270 remote.sendError('I'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 271 }
jamesmcildowietfl 8:0fe9f7bde2f9 272 }
jamesmcildowietfl 8:0fe9f7bde2f9 273 }
rwcjoliver 0:4788e1df7b55 274
jamesmcildowietfl 8:0fe9f7bde2f9 275 // TOGGLE AUTOSTOP
jamesmcildowietfl 8:0fe9f7bde2f9 276 if (challenge.autoStopActive == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 277 if (remote.autoStop == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 278 challenge.autoStopOn();
jamesmcildowietfl 8:0fe9f7bde2f9 279 }
jamesmcildowietfl 8:0fe9f7bde2f9 280 }
jamesmcildowietfl 8:0fe9f7bde2f9 281 else {
jamesmcildowietfl 8:0fe9f7bde2f9 282 remote.sendError('D'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 283 if (remote.autoStop == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 284 challenge.autoStopOff();
jamesmcildowietfl 8:0fe9f7bde2f9 285 }
jamesmcildowietfl 8:0fe9f7bde2f9 286 }
rwcjoliver 0:4788e1df7b55 287
jamesmcildowietfl 8:0fe9f7bde2f9 288 // TOGGLE INNOVATION
jamesmcildowietfl 8:0fe9f7bde2f9 289 if (challenge.innovationActive == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 290 if (remote.innovation == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 291 if (driveMode == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 292 challenge.innovationOn();
jamesmcildowietfl 8:0fe9f7bde2f9 293 }
jamesmcildowietfl 8:0fe9f7bde2f9 294 else {
jamesmcildowietfl 8:0fe9f7bde2f9 295 remote.sendError('J'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 296 pc.printf("Can only active innovation mode in forward direction\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 297 }
jamesmcildowietfl 8:0fe9f7bde2f9 298 }
jamesmcildowietfl 8:0fe9f7bde2f9 299 }
jamesmcildowietfl 8:0fe9f7bde2f9 300 else {
jamesmcildowietfl 8:0fe9f7bde2f9 301 remote.sendError('E'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 302
jamesmcildowietfl 8:0fe9f7bde2f9 303 if (remote.innovation == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 304 challenge.innovationOff();
jamesmcildowietfl 8:0fe9f7bde2f9 305 }
jamesmcildowietfl 8:0fe9f7bde2f9 306 }
jamesmcildowietfl 8:0fe9f7bde2f9 307 /////END OF TOGGLE CHECKS//////////////////////////////////////////////////////////////////////////////////////////////
rwcjoliver 0:4788e1df7b55 308
jamesmcildowietfl 8:0fe9f7bde2f9 309 /////Control///////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 310 //Is a Toggle check, but it is the train start swtich A
jamesmcildowietfl 8:0fe9f7bde2f9 311 if (systemOn == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 312 if (remote.start == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 313 if (millis() - lastErrorMillis > 500) {
jamesmcildowietfl 8:0fe9f7bde2f9 314 remote.sendError('A'); // SEND ERROR MESSAGE 'A' TO REMOTE
jamesmcildowietfl 8:0fe9f7bde2f9 315 lastErrorMillis = millis();
jamesmcildowietfl 8:0fe9f7bde2f9 316 }
jamesmcildowietfl 8:0fe9f7bde2f9 317 motor1.turnOff();
jamesmcildowietfl 8:0fe9f7bde2f9 318 }
jamesmcildowietfl 8:0fe9f7bde2f9 319 else {
jamesmcildowietfl 8:0fe9f7bde2f9 320 systemOn = true;
jamesmcildowietfl 8:0fe9f7bde2f9 321 motor1.turnOn(); // Turn on motors
jamesmcildowietfl 8:0fe9f7bde2f9 322 }
jamesmcildowietfl 8:0fe9f7bde2f9 323 } // END IF SYSTEMON = FALSE
jamesmcildowietfl 8:0fe9f7bde2f9 324 //If train is switched on and in start do this start///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 325 else { // IF SYSTEMON == TRUE
jamesmcildowietfl 8:0fe9f7bde2f9 326 if (remote.start == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 327 systemOn = false; // WILL STOP ABOVE HERE NEXT LOOP
jamesmcildowietfl 8:0fe9f7bde2f9 328 pc.printf("Start Switch is Off\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 329 }
jamesmcildowietfl 15:4976d145fbd9 330
jamesmcildowietfl 8:0fe9f7bde2f9 331 //Set foward
jamesmcildowietfl 8:0fe9f7bde2f9 332 if (driveMode != 0 && remote.forward == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 333 driveMode = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 334 motor1.setForward();
jamesmcildowietfl 8:0fe9f7bde2f9 335 }
jamesmcildowietfl 8:0fe9f7bde2f9 336 //Set reverse
jamesmcildowietfl 8:0fe9f7bde2f9 337 if (driveMode != 1 && remote.reverse == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 338 driveMode = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 339 motor1.setReverse();
jamesmcildowietfl 8:0fe9f7bde2f9 340 }
jamesmcildowietfl 8:0fe9f7bde2f9 341 //Set park
jamesmcildowietfl 8:0fe9f7bde2f9 342 if (driveMode != 2 && remote.park == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 343 driveMode = 2;
jamesmcildowietfl 8:0fe9f7bde2f9 344 motor1.setPark();
jamesmcildowietfl 8:0fe9f7bde2f9 345 motor1.throttle(0);
jamesmcildowietfl 8:0fe9f7bde2f9 346 }
jamesmcildowietfl 8:0fe9f7bde2f9 347 ////Park Mode
jamesmcildowietfl 8:0fe9f7bde2f9 348 if (driveMode == 2) { //place in park mode if selected by driver
jamesmcildowietfl 18:d28d458824d4 349 if (inParkMode == false) {
jamesmcildowietfl 18:d28d458824d4 350 pc.printf("Train in park mode.\r\n"); //why?
jamesmcildowietfl 18:d28d458824d4 351 }
jamesmcildowietfl 8:0fe9f7bde2f9 352
jamesmcildowietfl 8:0fe9f7bde2f9 353 if (emergencyStopActive == true && rtc_output.read() == 0) { // Clear emergency stop flag
jamesmcildowietfl 8:0fe9f7bde2f9 354 emergencyStopActive = false;
jamesmcildowietfl 8:0fe9f7bde2f9 355 }
jamesmcildowietfl 8:0fe9f7bde2f9 356
jamesmcildowietfl 8:0fe9f7bde2f9 357 led_parkMode = 1;
jamesmcildowietfl 18:d28d458824d4 358 inParkMode = true; // Stop above debug print from displaying more than once
jamesmcildowietfl 18:d28d458824d4 359 motor1.setPark();
jamesmcildowietfl 8:0fe9f7bde2f9 360 }
jamesmcildowietfl 8:0fe9f7bde2f9 361
jamesmcildowietfl 8:0fe9f7bde2f9 362 ////Drive
jamesmcildowietfl 8:0fe9f7bde2f9 363 else { //else i.e if selected drive mode is forward or reverse
jamesmcildowietfl 8:0fe9f7bde2f9 364 ////////////////// Start of check for error G RTC clear
jamesmcildowietfl 8:0fe9f7bde2f9 365 if (emergencyStopActive == false && rtc_output.read() == 0) { // IF RTC FLAGGED AS SAFE
jamesmcildowietfl 8:0fe9f7bde2f9 366
jamesmcildowietfl 8:0fe9f7bde2f9 367 led_parkMode = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 368 inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 369
jamesmcildowietfl 8:0fe9f7bde2f9 370 if (driveMode != lastKnownDirection) {
jamesmcildowietfl 8:0fe9f7bde2f9 371 pc.printf("Train enabled for direction %d\r\n", driveMode);
jamesmcildowietfl 8:0fe9f7bde2f9 372
jamesmcildowietfl 8:0fe9f7bde2f9 373 lastKnownDirection = driveMode;
rwcjoliver 0:4788e1df7b55 374 }
rwcjoliver 0:4788e1df7b55 375
jamesmcildowietfl 8:0fe9f7bde2f9 376 ////Call autostop challenge
jamesmcildowietfl 8:0fe9f7bde2f9 377 if (challenge.autoStopInProgress == true) { // IF AUTOSTOPPING, PASS THROTTLE CONTROL TO FUNCTION
jamesmcildowietfl 8:0fe9f7bde2f9 378 challenge.autoStopControl();
jamesmcildowietfl 8:0fe9f7bde2f9 379 pc.printf("Autostop in Control\r\n");
rwcjoliver 0:4788e1df7b55 380 }
jamesmcildowietfl 8:0fe9f7bde2f9 381 //Use controls from remote
jamesmcildowietfl 8:0fe9f7bde2f9 382 else { // OTHERWISE INPUT THROTTLE FROM REMOTE
jamesmcildowietfl 8:0fe9f7bde2f9 383 if (remote.throttle > 0) { // If joystick pushed upwards = throttle
jamesmcildowietfl 8:0fe9f7bde2f9 384 /////////////////////////Innovation braking start
jamesmcildowietfl 8:0fe9f7bde2f9 385 if (challenge.innovationActive == true) {
jamesmcildowietfl 8:0fe9f7bde2f9 386 pc.printf("Collision Detection in Control\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 387 int innovationThrottle = challenge.innovationControl(remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 388 speedControl(innovationThrottle);
jamesmcildowietfl 8:0fe9f7bde2f9 389
jamesmcildowietfl 8:0fe9f7bde2f9 390 if (innovationThrottle == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 391 emergencyStop(); // emergency Brake if obstacle detected
jamesmcildowietfl 8:0fe9f7bde2f9 392 }
rwcjoliver 0:4788e1df7b55 393 }
jamesmcildowietfl 8:0fe9f7bde2f9 394 /////////////////////////Innovation braking end
jamesmcildowietfl 8:0fe9f7bde2f9 395 //normal throttle control
jamesmcildowietfl 8:0fe9f7bde2f9 396 else {
jamesmcildowietfl 8:0fe9f7bde2f9 397 speedControl(remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 398 pc.printf("Throttling: %d\r\n", remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 399 }
jamesmcildowietfl 8:0fe9f7bde2f9 400 } // remote.throttle
jamesmcildowietfl 8:0fe9f7bde2f9 401 ///if nothing set to 0
jamesmcildowietfl 8:0fe9f7bde2f9 402 else {
jamesmcildowietfl 18:d28d458824d4 403 speedControl(0);
jamesmcildowietfl 8:0fe9f7bde2f9 404 }
rwcjoliver 0:4788e1df7b55 405 }
rwcjoliver 0:4788e1df7b55 406
jamesmcildowietfl 8:0fe9f7bde2f9 407 }
jamesmcildowietfl 8:0fe9f7bde2f9 408 ////////////////// End of check for error G RTC clear
jamesmcildowietfl 8:0fe9f7bde2f9 409 else {
jamesmcildowietfl 8:0fe9f7bde2f9 410 pc.printf("Cannot exit park mode until RTC is cleared\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 411 inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 412 remote.sendError('G'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 413 }
jamesmcildowietfl 8:0fe9f7bde2f9 414 }
jamesmcildowietfl 8:0fe9f7bde2f9 415 //Datalogger Chai Funciton
jamesmcildowietfl 8:0fe9f7bde2f9 416 DisplaySerial();
jamesmcildowietfl 8:0fe9f7bde2f9 417 } // END IF (SYSTEMON == TRUE)
jamesmcildowietfl 8:0fe9f7bde2f9 418 //If train is switched on and in start do this end///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
rwcjoliver 0:4788e1df7b55 419
jamesmcildowietfl 19:a4afd3a6bdfb 420 wait_ms(25); // SLOW DOWN THE SYSTEM (REMOTE CANT KEEP UP)
jamesmcildowietfl 8:0fe9f7bde2f9 421 } // END WHILE(COMMSGOOD)
jamesmcildowietfl 8:0fe9f7bde2f9 422 pc.printf("Main Loop Skipped Due To Emergency Status\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 423 emergencyStop(); // Emergency stop if comms lost with remote controller
rwcjoliver 0:4788e1df7b55 424
rwcjoliver 0:4788e1df7b55 425
jamesmcildowietfl 8:0fe9f7bde2f9 426 } //END WHILE(1)
jamesmcildowietfl 8:0fe9f7bde2f9 427 }