Railway Challenge / Mbed OS Railway Challenge 2022-23

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Dependencies:   millis

main.cpp@35:2f476d981896, 2022-06-22 (annotated)

Committer:
cdevarakonda
Date:
Wed Jun 22 11:14:32 2022 +0000
Revision:
35:2f476d981896
Parent:
33:9198b292a8eb
Child:
36:af4fb5f4988a
commented out energy storage block for now

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 30:c65bf90e8f47 23 Brakes brakes;
rwcjoliver 0:4788e1df7b55 24
cdevarakonda 31:54292fdb96b3 25 int driveMode = 2;// Drive mode - fwd(0), rev(1), park(2)
cdevarakonda 31:54292fdb96b3 26 bool emergencyStopActive = false; //default state for emergency stop being active
rwcjoliver 0:4788e1df7b55 27
cdevarakonda 31:54292fdb96b3 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 }
rwcjoliver 0:4788e1df7b55 37
jamesmcildowietfl 18:d28d458824d4 38 //Brake code
cdevarakonda 27:5f801d4ca461 39 void brakeControl(int brakeRate) { //set brake rate to float for regen
jamesmcildowietfl 18:d28d458824d4 40 if (driveMode == 2) { // PARK MODE
jamesmcildowietfl 8:0fe9f7bde2f9 41 // All Mechanical brakes applied
cdevarakonda 30:c65bf90e8f47 42 brakes.ParkMode(motor1);
jamesmcildowietfl 18:d28d458824d4 43 }
cdevarakonda 30:c65bf90e8f47 44 {//REGEN BRAKING
cdevarakonda 30:c65bf90e8f47 45
cdevarakonda 30:c65bf90e8f47 46 if (challenge.regenBrakingActive == true) { // REGEN BRAKING WITH OVERVOLTAGE SAFETY CHECK
cdevarakonda 30:c65bf90e8f47 47 brakes.RegenControl(brakeRate,motor1);
cdevarakonda 28:1086791972d0 48 }
cdevarakonda 27:5f801d4ca461 49
jamesmcildowietfl 8:0fe9f7bde2f9 50 else { // MECHANICAL BRAKING
cdevarakonda 30:c65bf90e8f47 51 brakes.MechanicalBraking(brakeRate,motor1); // calls mechanical braking
jamesmcildowietfl 8:0fe9f7bde2f9 52 }
jamesmcildowietfl 18:d28d458824d4 53 }
jamesmcildowietfl 8:0fe9f7bde2f9 54 return;
rwcjoliver 0:4788e1df7b55 55 }
cdevarakonda 30:c65bf90e8f47 56 void emergencyStop()
cdevarakonda 30:c65bf90e8f47 57 {
cdevarakonda 30:c65bf90e8f47 58 brakes.EmergencyStop(motor1,rtc,emergencyStopActive); //invokes emergency stop code from brakes class
cdevarakonda 30:c65bf90e8f47 59 }
jamesmcildowietfl 8:0fe9f7bde2f9 60 //Motor code
rwcjoliver 0:4788e1df7b55 61 void speedControl(int commandedSpeed) {
jamesmcildowietfl 8:0fe9f7bde2f9 62 switch (commandedSpeed) {
jamesmcildowietfl 8:0fe9f7bde2f9 63
jamesmcildowietfl 8:0fe9f7bde2f9 64 default:
jamesmcildowietfl 8:0fe9f7bde2f9 65 break;
jamesmcildowietfl 8:0fe9f7bde2f9 66
jamesmcildowietfl 8:0fe9f7bde2f9 67 case 0:
jamesmcildowietfl 8:0fe9f7bde2f9 68 motor1.throttle(0.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 69 break;
jamesmcildowietfl 8:0fe9f7bde2f9 70
jamesmcildowietfl 8:0fe9f7bde2f9 71 case 1 ... 2:
jamesmcildowietfl 8:0fe9f7bde2f9 72 motor1.throttle(0.1f);
jamesmcildowietfl 8:0fe9f7bde2f9 73 break;
jamesmcildowietfl 8:0fe9f7bde2f9 74
jamesmcildowietfl 8:0fe9f7bde2f9 75 case 3 ... 4:
jamesmcildowietfl 8:0fe9f7bde2f9 76 motor1.throttle(0.2f);
jamesmcildowietfl 8:0fe9f7bde2f9 77 break;
jamesmcildowietfl 8:0fe9f7bde2f9 78
jamesmcildowietfl 8:0fe9f7bde2f9 79 case 5 ... 6:
jamesmcildowietfl 8:0fe9f7bde2f9 80 motor1.throttle(0.3f);
jamesmcildowietfl 8:0fe9f7bde2f9 81 break;
jamesmcildowietfl 8:0fe9f7bde2f9 82
jamesmcildowietfl 8:0fe9f7bde2f9 83 case 7 ... 8:
jamesmcildowietfl 8:0fe9f7bde2f9 84 motor1.throttle(0.4f);
jamesmcildowietfl 8:0fe9f7bde2f9 85 break;
jamesmcildowietfl 8:0fe9f7bde2f9 86
jamesmcildowietfl 8:0fe9f7bde2f9 87 case 9 ... 10:
jamesmcildowietfl 8:0fe9f7bde2f9 88 motor1.throttle(0.5f);
jamesmcildowietfl 8:0fe9f7bde2f9 89 break;
jamesmcildowietfl 8:0fe9f7bde2f9 90
jamesmcildowietfl 8:0fe9f7bde2f9 91 case 11:
jamesmcildowietfl 8:0fe9f7bde2f9 92 motor1.throttle(0.6f);
jamesmcildowietfl 8:0fe9f7bde2f9 93 break;
jamesmcildowietfl 8:0fe9f7bde2f9 94
jamesmcildowietfl 8:0fe9f7bde2f9 95 case 12:
jamesmcildowietfl 8:0fe9f7bde2f9 96 motor1.throttle(0.7f);
jamesmcildowietfl 8:0fe9f7bde2f9 97 break;
jamesmcildowietfl 8:0fe9f7bde2f9 98
jamesmcildowietfl 8:0fe9f7bde2f9 99 case 13:
jamesmcildowietfl 8:0fe9f7bde2f9 100 motor1.throttle(0.8f);
jamesmcildowietfl 8:0fe9f7bde2f9 101 break;
jamesmcildowietfl 8:0fe9f7bde2f9 102
jamesmcildowietfl 8:0fe9f7bde2f9 103 case 14:
jamesmcildowietfl 8:0fe9f7bde2f9 104 motor1.throttle(0.9f);
jamesmcildowietfl 8:0fe9f7bde2f9 105 break;
jamesmcildowietfl 8:0fe9f7bde2f9 106
jamesmcildowietfl 8:0fe9f7bde2f9 107 case 15:
jamesmcildowietfl 8:0fe9f7bde2f9 108 motor1.throttle(1.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 109 break;
jamesmcildowietfl 8:0fe9f7bde2f9 110 }
rwcjoliver 0:4788e1df7b55 111 }
cdevarakonda 32:771f6d99a77b 112 ///Energy Storage
cdevarakonda 32:771f6d99a77b 113 //energy storage display code
cdevarakonda 35:2f476d981896 114 /*
cdevarakonda 32:771f6d99a77b 115 void EnergyStorage()
cdevarakonda 32:771f6d99a77b 116 {
cdevarakonda 32:771f6d99a77b 117 float current_powercab=((2*vout_powercab)-vref_powercab)*250; //voltage change to current conversion
cdevarakonda 32:771f6d99a77b 118 float current_supercap=((2*vout_supercap)-vref_supercap)*250;
cdevarakonda 32:771f6d99a77b 119 int t=1; //1 second interval
cdevarakonda 32:771f6d99a77b 120 int C= 250; //Capacitance Value
cdevarakonda 32:771f6d99a77b 121 float energy_supercap = (1/2) * (current_supercap * current_supercap) * (t*t) / C;
cdevarakonda 32:771f6d99a77b 122 float energy_powercab = (1/2) * (current_powercab * current_powercab) * (t*t) / C;
cdevarakonda 32:771f6d99a77b 123 int scap = static_cast<int>(energy_supercap);
cdevarakonda 33:9198b292a8eb 124 int pcab = static_cast<int>(current_powercab);//(current_powercab);
cdevarakonda 33:9198b292a8eb 125 remote.sendData(9,scap);
cdevarakonda 33:9198b292a8eb 126 remote.sendData(10,pcab);
cdevarakonda 32:771f6d99a77b 127
cdevarakonda 35:2f476d981896 128 }
cdevarakonda 35:2f476d981896 129 */
cdevarakonda 32:771f6d99a77b 130
rwcjoliver 0:4788e1df7b55 131
jamesmcildowietfl 8:0fe9f7bde2f9 132 int main() {
jamesmcildowietfl 8:0fe9f7bde2f9 133 pc.baud(115200);
jamesmcildowietfl 8:0fe9f7bde2f9 134
jamesmcildowietfl 8:0fe9f7bde2f9 135 // CONFIGURE INTERRUPTS
jamesmcildowietfl 8:0fe9f7bde2f9 136 rtc_output.rise(&emergencyStop);
jamesmcildowietfl 8:0fe9f7bde2f9 137
jamesmcildowietfl 8:0fe9f7bde2f9 138 millisStart();
jamesmcildowietfl 8:0fe9f7bde2f9 139
jamesmcildowietfl 8:0fe9f7bde2f9 140 rtc_Trigger = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 141
jamesmcildowietfl 8:0fe9f7bde2f9 142 // LOCAL VARIABLES
jamesmcildowietfl 8:0fe9f7bde2f9 143 bool systemOn = false; // On/Off status of loco
jamesmcildowietfl 8:0fe9f7bde2f9 144 int lastKnownDirection = 2;
jamesmcildowietfl 8:0fe9f7bde2f9 145 bool inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 146
jamesmcildowietfl 8:0fe9f7bde2f9 147 // Record last time error was sent
jamesmcildowietfl 8:0fe9f7bde2f9 148 unsigned long lastErrorMillis = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 149
jamesmcildowietfl 8:0fe9f7bde2f9 150 //MainLoop
jamesmcildowietfl 8:0fe9f7bde2f9 151 while (1) {
jamesmcildowietfl 8:0fe9f7bde2f9 152
jamesmcildowietfl 8:0fe9f7bde2f9 153 while (remote.commsGood == true) {
jamesmcildowietfl 8:0fe9f7bde2f9 154 /////Start Up///////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 155
jamesmcildowietfl 8:0fe9f7bde2f9 156 /////Checking Modes from controller/////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 157 // PING
jamesmcildowietfl 8:0fe9f7bde2f9 158 remote.commsCheck();
jamesmcildowietfl 8:0fe9f7bde2f9 159
jamesmcildowietfl 8:0fe9f7bde2f9 160 // GET SWITCH STATES
jamesmcildowietfl 8:0fe9f7bde2f9 161 remote.getSwitchStates();
jamesmcildowietfl 8:0fe9f7bde2f9 162
jamesmcildowietfl 8:0fe9f7bde2f9 163 // ALLOW BRAKES TO BE OPERATED
jamesmcildowietfl 8:0fe9f7bde2f9 164 brakeControl(remote.braking);
cdevarakonda 32:771f6d99a77b 165
cdevarakonda 32:771f6d99a77b 166 //Energy Storage Display
cdevarakonda 35:2f476d981896 167 //EnergyStorage();
jamesmcildowietfl 8:0fe9f7bde2f9 168
jamesmcildowietfl 8:0fe9f7bde2f9 169 // SOUND WHISTLE IF WHISTLE BUTTON PRESSED
jamesmcildowietfl 8:0fe9f7bde2f9 170 if (remote.whistle == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 171 whistleValve32 = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 172 }
jamesmcildowietfl 8:0fe9f7bde2f9 173 else {
jamesmcildowietfl 8:0fe9f7bde2f9 174 whistleValve32 = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 175 }
jamesmcildowietfl 8:0fe9f7bde2f9 176
jamesmcildowietfl 8:0fe9f7bde2f9 177 // GET AND DISPLAY SPEED
jamesmcildowietfl 8:0fe9f7bde2f9 178 dashboard.getCurrentSpeed();
jamesmcildowietfl 8:0fe9f7bde2f9 179 remote.sendData(2, dashboard.currentSpeed); // Send speed to remote
jamesmcildowietfl 8:0fe9f7bde2f9 180
jamesmcildowietfl 8:0fe9f7bde2f9 181 // TOGGLE COMPRESSOR
jamesmcildowietfl 8:0fe9f7bde2f9 182 remote.compressor == 0 ? contactCompressor = 1 : contactCompressor = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 183
jamesmcildowietfl 8:0fe9f7bde2f9 184 // TOGGLE MOTOR CONTROLLER DEADMAN (SEAT SWITCH AND FOOTBRAKE)
jamesmcildowietfl 8:0fe9f7bde2f9 185 if (rtc.deadman == 0) { // IF DEADMAN PRESSED
jamesmcildowietfl 8:0fe9f7bde2f9 186 motor1.closeDeadman();
jamesmcildowietfl 8:0fe9f7bde2f9 187 }
jamesmcildowietfl 8:0fe9f7bde2f9 188 else {
jamesmcildowietfl 8:0fe9f7bde2f9 189 motor1.releaseDeadman();
jamesmcildowietfl 8:0fe9f7bde2f9 190 }
jamesmcildowietfl 8:0fe9f7bde2f9 191
jamesmcildowietfl 8:0fe9f7bde2f9 192 // TOGGLE REGEN THROTTLING
jamesmcildowietfl 8:0fe9f7bde2f9 193 if (challenge.regenThrottleActive == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 194 if (remote.regenThrottle == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 195 challenge.regenThrottleOn();
rwcjoliver 0:4788e1df7b55 196 }
jamesmcildowietfl 8:0fe9f7bde2f9 197 }
jamesmcildowietfl 8:0fe9f7bde2f9 198 else {
jamesmcildowietfl 8:0fe9f7bde2f9 199 remote.sendError('B'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 200 if (remote.regenThrottle == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 201 challenge.regenThrottleOff();
jamesmcildowietfl 8:0fe9f7bde2f9 202 }
jamesmcildowietfl 8:0fe9f7bde2f9 203 }
rwcjoliver 0:4788e1df7b55 204
jamesmcildowietfl 8:0fe9f7bde2f9 205 // TOGGLE REGEN BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 206 if (challenge.regenBrakingActive == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 207 if (remote.regenBrake == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 208 if (challenge.regenBrakingOn() == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 209 remote.sendError('I'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 210 pc.printf("Regen Braking Off - SuperCaps are full\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 211 }
jamesmcildowietfl 8:0fe9f7bde2f9 212 }
jamesmcildowietfl 8:0fe9f7bde2f9 213 }
jamesmcildowietfl 8:0fe9f7bde2f9 214 else {
jamesmcildowietfl 8:0fe9f7bde2f9 215 remote.sendError('C'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 216 if (remote.regenBrake == 1) { // TURN OFF
jamesmcildowietfl 8:0fe9f7bde2f9 217 challenge.regenBrakingOff();
jamesmcildowietfl 8:0fe9f7bde2f9 218 if (superCapVoltage == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 219 pc.printf("Regen Braking Off - SuperCaps are full\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 220 remote.sendError('I'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 221 }
jamesmcildowietfl 8:0fe9f7bde2f9 222 }
jamesmcildowietfl 8:0fe9f7bde2f9 223 }
rwcjoliver 0:4788e1df7b55 224
jamesmcildowietfl 8:0fe9f7bde2f9 225 // TOGGLE AUTOSTOP
jamesmcildowietfl 8:0fe9f7bde2f9 226 if (challenge.autoStopActive == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 227 if (remote.autoStop == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 228 challenge.autoStopOn();
jamesmcildowietfl 8:0fe9f7bde2f9 229 }
jamesmcildowietfl 8:0fe9f7bde2f9 230 }
jamesmcildowietfl 8:0fe9f7bde2f9 231 else {
jamesmcildowietfl 8:0fe9f7bde2f9 232 remote.sendError('D'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 233 if (remote.autoStop == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 234 challenge.autoStopOff();
jamesmcildowietfl 8:0fe9f7bde2f9 235 }
jamesmcildowietfl 8:0fe9f7bde2f9 236 }
rwcjoliver 0:4788e1df7b55 237
jamesmcildowietfl 8:0fe9f7bde2f9 238 // TOGGLE INNOVATION
jamesmcildowietfl 8:0fe9f7bde2f9 239 if (challenge.innovationActive == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 240 if (remote.innovation == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 241 if (driveMode == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 242 challenge.innovationOn();
jamesmcildowietfl 8:0fe9f7bde2f9 243 }
jamesmcildowietfl 8:0fe9f7bde2f9 244 else {
jamesmcildowietfl 8:0fe9f7bde2f9 245 remote.sendError('J'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 246 pc.printf("Can only active innovation mode in forward direction\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 247 }
jamesmcildowietfl 8:0fe9f7bde2f9 248 }
jamesmcildowietfl 8:0fe9f7bde2f9 249 }
jamesmcildowietfl 8:0fe9f7bde2f9 250 else {
jamesmcildowietfl 8:0fe9f7bde2f9 251 remote.sendError('E'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 252
jamesmcildowietfl 8:0fe9f7bde2f9 253 if (remote.innovation == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 254 challenge.innovationOff();
jamesmcildowietfl 8:0fe9f7bde2f9 255 }
jamesmcildowietfl 8:0fe9f7bde2f9 256 }
jamesmcildowietfl 8:0fe9f7bde2f9 257 /////END OF TOGGLE CHECKS//////////////////////////////////////////////////////////////////////////////////////////////
rwcjoliver 0:4788e1df7b55 258
jamesmcildowietfl 8:0fe9f7bde2f9 259 /////Control///////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 260 //Is a Toggle check, but it is the train start swtich A
jamesmcildowietfl 8:0fe9f7bde2f9 261 if (systemOn == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 262 if (remote.start == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 263 if (millis() - lastErrorMillis > 500) {
jamesmcildowietfl 8:0fe9f7bde2f9 264 remote.sendError('A'); // SEND ERROR MESSAGE 'A' TO REMOTE
jamesmcildowietfl 8:0fe9f7bde2f9 265 lastErrorMillis = millis();
jamesmcildowietfl 8:0fe9f7bde2f9 266 }
jamesmcildowietfl 8:0fe9f7bde2f9 267 motor1.turnOff();
jamesmcildowietfl 8:0fe9f7bde2f9 268 }
jamesmcildowietfl 8:0fe9f7bde2f9 269 else {
jamesmcildowietfl 8:0fe9f7bde2f9 270 systemOn = true;
jamesmcildowietfl 8:0fe9f7bde2f9 271 motor1.turnOn(); // Turn on motors
jamesmcildowietfl 8:0fe9f7bde2f9 272 }
jamesmcildowietfl 8:0fe9f7bde2f9 273 } // END IF SYSTEMON = FALSE
jamesmcildowietfl 8:0fe9f7bde2f9 274 //If train is switched on and in start do this start///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 275 else { // IF SYSTEMON == TRUE
jamesmcildowietfl 8:0fe9f7bde2f9 276 if (remote.start == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 277 systemOn = false; // WILL STOP ABOVE HERE NEXT LOOP
jamesmcildowietfl 8:0fe9f7bde2f9 278 pc.printf("Start Switch is Off\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 279 }
jamesmcildowietfl 15:4976d145fbd9 280
jamesmcildowietfl 8:0fe9f7bde2f9 281 //Set foward
jamesmcildowietfl 8:0fe9f7bde2f9 282 if (driveMode != 0 && remote.forward == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 283 driveMode = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 284 motor1.setForward();
cdevarakonda 32:771f6d99a77b 285 FrontLight=1;
cdevarakonda 32:771f6d99a77b 286 BackLight=0;
jamesmcildowietfl 8:0fe9f7bde2f9 287 }
jamesmcildowietfl 8:0fe9f7bde2f9 288 //Set reverse
jamesmcildowietfl 8:0fe9f7bde2f9 289 if (driveMode != 1 && remote.reverse == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 290 driveMode = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 291 motor1.setReverse();
cdevarakonda 32:771f6d99a77b 292 BackLight=1;
cdevarakonda 32:771f6d99a77b 293 FrontLight=0;
jamesmcildowietfl 8:0fe9f7bde2f9 294 }
jamesmcildowietfl 8:0fe9f7bde2f9 295 //Set park
jamesmcildowietfl 8:0fe9f7bde2f9 296 if (driveMode != 2 && remote.park == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 297 driveMode = 2;
jamesmcildowietfl 8:0fe9f7bde2f9 298 motor1.setPark();
jamesmcildowietfl 8:0fe9f7bde2f9 299 motor1.throttle(0);
jamesmcildowietfl 8:0fe9f7bde2f9 300 }
jamesmcildowietfl 8:0fe9f7bde2f9 301 ////Park Mode
cdevarakonda 29:2ed4d9c309fc 302 if (driveMode == 2) {
cdevarakonda 30:c65bf90e8f47 303 brakes.ParkMode(motor1); //place in park mode if selected by driver
cdevarakonda 32:771f6d99a77b 304 BackLight=0;
cdevarakonda 32:771f6d99a77b 305 FrontLight=0;
jamesmcildowietfl 18:d28d458824d4 306 if (inParkMode == false) {
jamesmcildowietfl 18:d28d458824d4 307 pc.printf("Train in park mode.\r\n"); //why?
jamesmcildowietfl 18:d28d458824d4 308 }
jamesmcildowietfl 8:0fe9f7bde2f9 309
jamesmcildowietfl 8:0fe9f7bde2f9 310 if (emergencyStopActive == true && rtc_output.read() == 0) { // Clear emergency stop flag
jamesmcildowietfl 8:0fe9f7bde2f9 311 emergencyStopActive = false;
jamesmcildowietfl 8:0fe9f7bde2f9 312 }
jamesmcildowietfl 8:0fe9f7bde2f9 313
jamesmcildowietfl 8:0fe9f7bde2f9 314 led_parkMode = 1;
jamesmcildowietfl 18:d28d458824d4 315 inParkMode = true; // Stop above debug print from displaying more than once
jamesmcildowietfl 18:d28d458824d4 316 motor1.setPark();
jamesmcildowietfl 8:0fe9f7bde2f9 317 }
jamesmcildowietfl 8:0fe9f7bde2f9 318
jamesmcildowietfl 8:0fe9f7bde2f9 319 ////Drive
jamesmcildowietfl 8:0fe9f7bde2f9 320 else { //else i.e if selected drive mode is forward or reverse
jamesmcildowietfl 8:0fe9f7bde2f9 321 ////////////////// Start of check for error G RTC clear
jamesmcildowietfl 8:0fe9f7bde2f9 322 if (emergencyStopActive == false && rtc_output.read() == 0) { // IF RTC FLAGGED AS SAFE
jamesmcildowietfl 8:0fe9f7bde2f9 323
jamesmcildowietfl 8:0fe9f7bde2f9 324 led_parkMode = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 325 inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 326
jamesmcildowietfl 8:0fe9f7bde2f9 327 if (driveMode != lastKnownDirection) {
jamesmcildowietfl 8:0fe9f7bde2f9 328 pc.printf("Train enabled for direction %d\r\n", driveMode);
jamesmcildowietfl 8:0fe9f7bde2f9 329
jamesmcildowietfl 8:0fe9f7bde2f9 330 lastKnownDirection = driveMode;
rwcjoliver 0:4788e1df7b55 331 }
rwcjoliver 0:4788e1df7b55 332
jamesmcildowietfl 8:0fe9f7bde2f9 333 ////Call autostop challenge
jamesmcildowietfl 8:0fe9f7bde2f9 334 if (challenge.autoStopInProgress == true) { // IF AUTOSTOPPING, PASS THROTTLE CONTROL TO FUNCTION
jamesmcildowietfl 8:0fe9f7bde2f9 335 challenge.autoStopControl();
jamesmcildowietfl 8:0fe9f7bde2f9 336 pc.printf("Autostop in Control\r\n");
rwcjoliver 0:4788e1df7b55 337 }
jamesmcildowietfl 8:0fe9f7bde2f9 338 //Use controls from remote
jamesmcildowietfl 8:0fe9f7bde2f9 339 else { // OTHERWISE INPUT THROTTLE FROM REMOTE
jamesmcildowietfl 8:0fe9f7bde2f9 340 if (remote.throttle > 0) { // If joystick pushed upwards = throttle
jamesmcildowietfl 8:0fe9f7bde2f9 341 /////////////////////////Innovation braking start
jamesmcildowietfl 8:0fe9f7bde2f9 342 if (challenge.innovationActive == true) {
jamesmcildowietfl 8:0fe9f7bde2f9 343 pc.printf("Collision Detection in Control\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 344 int innovationThrottle = challenge.innovationControl(remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 345 speedControl(innovationThrottle);
jamesmcildowietfl 8:0fe9f7bde2f9 346
jamesmcildowietfl 8:0fe9f7bde2f9 347 if (innovationThrottle == 0) {
cdevarakonda 30:c65bf90e8f47 348 emergencyStop(); // emergency Brake if obstacle detected
jamesmcildowietfl 8:0fe9f7bde2f9 349 }
rwcjoliver 0:4788e1df7b55 350 }
jamesmcildowietfl 8:0fe9f7bde2f9 351 /////////////////////////Innovation braking end
jamesmcildowietfl 8:0fe9f7bde2f9 352 //normal throttle control
jamesmcildowietfl 8:0fe9f7bde2f9 353 else {
jamesmcildowietfl 8:0fe9f7bde2f9 354 speedControl(remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 355 pc.printf("Throttling: %d\r\n", remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 356 }
jamesmcildowietfl 8:0fe9f7bde2f9 357 } // remote.throttle
jamesmcildowietfl 8:0fe9f7bde2f9 358 ///if nothing set to 0
jamesmcildowietfl 8:0fe9f7bde2f9 359 else {
jamesmcildowietfl 18:d28d458824d4 360 speedControl(0);
jamesmcildowietfl 8:0fe9f7bde2f9 361 }
rwcjoliver 0:4788e1df7b55 362 }
rwcjoliver 0:4788e1df7b55 363
jamesmcildowietfl 8:0fe9f7bde2f9 364 }
jamesmcildowietfl 8:0fe9f7bde2f9 365 ////////////////// End of check for error G RTC clear
jamesmcildowietfl 8:0fe9f7bde2f9 366 else {
jamesmcildowietfl 8:0fe9f7bde2f9 367 pc.printf("Cannot exit park mode until RTC is cleared\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 368 inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 369 remote.sendError('G'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 370 }
jamesmcildowietfl 8:0fe9f7bde2f9 371 }
jamesmcildowietfl 8:0fe9f7bde2f9 372 //Datalogger Chai Funciton
jamesmcildowietfl 8:0fe9f7bde2f9 373 DisplaySerial();
jamesmcildowietfl 8:0fe9f7bde2f9 374 } // END IF (SYSTEMON == TRUE)
jamesmcildowietfl 8:0fe9f7bde2f9 375 //If train is switched on and in start do this end///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
rwcjoliver 0:4788e1df7b55 376
jamesmcildowietfl 19:a4afd3a6bdfb 377 wait_ms(25); // SLOW DOWN THE SYSTEM (REMOTE CANT KEEP UP)
jamesmcildowietfl 8:0fe9f7bde2f9 378 } // END WHILE(COMMSGOOD)
jamesmcildowietfl 8:0fe9f7bde2f9 379 pc.printf("Main Loop Skipped Due To Emergency Status\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 380 emergencyStop(); // Emergency stop if comms lost with remote controller
rwcjoliver 0:4788e1df7b55 381
rwcjoliver 0:4788e1df7b55 382
jamesmcildowietfl 8:0fe9f7bde2f9 383 } //END WHILE(1)
jamesmcildowietfl 8:0fe9f7bde2f9 384 }