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Dependencies:   mbed millis

main.cpp@36:5c61710813b3, 2023-06-21 (annotated)

Committer:
as96
Date:
Wed Jun 21 16:58:23 2023 +0000
Revision:
36:5c61710813b3
Parent:
35:2f476d981896
Child:
38:1c93a9501929
Updated code with LCD SPI

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>
as96 36:5c61710813b3 11 #include "lcd.h"
jamesmcildowietfl 3:32e951e05a5b 12 using std::string;
rwcjoliver 0:4788e1df7b55 13
rwcjoliver 0:4788e1df7b55 14 // SET UP REMOTE CONTROL COMMS
rwcjoliver 0:4788e1df7b55 15 SPI remoteControl(PE_14, PE_13, PE_12); // (SPI_MOSI, SPI_MISO, SPI_SCK)
rwcjoliver 0:4788e1df7b55 16 DigitalOut remoteControlCS(PE_11); // (SPI_SS)
rwcjoliver 0:4788e1df7b55 17
as96 36:5c61710813b3 18 // SET UP lcd COMMS
as96 36:5c61710813b3 19 SPI lcd(PF_9, PF_8, PF_7); // (SPI_MOSI, SPI_MISO, SPI_SCK)
as96 36:5c61710813b3 20 DigitalOut lcdCS(PF_6); // (SPI_SS)
as96 36:5c61710813b3 21
as96 36:5c61710813b3 22
rwcjoliver 0:4788e1df7b55 23 // CREATE OBJECTS
rwcjoliver 0:4788e1df7b55 24 Remote remote(remoteControl, remoteControlCS);
as96 36:5c61710813b3 25 Lcd lcd1(lcd,lcdCS);
rwcjoliver 0:4788e1df7b55 26 Dashboard dashboard(hallSensor);
rwcjoliver 0:4788e1df7b55 27 RoundTrainCircuit rtc(rtc_1, rtc_2, rtc_3, rtc_4, rtc_5, rtc_6, rtc_7, rtc_override);
rwcjoliver 0:4788e1df7b55 28 Motor motor1(motorAccelerator, motorBrake, keySwitchM1, directionFwd, directionRev, footswitchM1, seatM1, inchFwdM1, speedLimit2M1, speedLimit3M1);
rwcjoliver 0:4788e1df7b55 29 ChallengeMode challenge(autoStopTrigger, dashboard, remote, motor1);
cdevarakonda 30:c65bf90e8f47 30 Brakes brakes;
rwcjoliver 0:4788e1df7b55 31
cdevarakonda 31:54292fdb96b3 32 int driveMode = 2;// Drive mode - fwd(0), rev(1), park(2)
cdevarakonda 31:54292fdb96b3 33 bool emergencyStopActive = false; //default state for emergency stop being active
rwcjoliver 0:4788e1df7b55 34
cdevarakonda 31:54292fdb96b3 35 ////////FUNCTIONS
rwcjoliver 0:4788e1df7b55 36
jamesmcildowietfl 3:32e951e05a5b 37 //Display Function for data logger
as96 36:5c61710813b3 38 void DisplaySerial()
as96 36:5c61710813b3 39 {
jamesmcildowietfl 18:d28d458824d4 40 std::stringstream displayline;
as96 36:5c61710813b3 41 displayline << "Blackbox# " << " Motor Accelerator: " << motorAccelerator << " Brake 3/2: " << frontBrake<< " Brake 2/2: " << backBrake << " Speed: " << dashboard.currentSpeed << " Distance: " << dashboard.currentDistance << " Drive Mode: " << driveMode << "\n";
jamesmcildowietfl 20:0add93a69df5 42 string disp = displayline.str();
jamesmcildowietfl 20:0add93a69df5 43 pc.printf("%s \n", disp.c_str());
as96 36:5c61710813b3 44 }
rwcjoliver 0:4788e1df7b55 45
jamesmcildowietfl 18:d28d458824d4 46 //Brake code
as96 36:5c61710813b3 47 void brakeControl(int brakeRate)
as96 36:5c61710813b3 48 { //set brake rate to float for regen
as96 36:5c61710813b3 49 if (driveMode == 2)
as96 36:5c61710813b3 50 { // PARK MODE
as96 36:5c61710813b3 51 // All Mechanical brakes applied
as96 36:5c61710813b3 52 brakes.ParkMode(motor1);
as96 36:5c61710813b3 53 }
as96 36:5c61710813b3 54 //REGEN BRAKING
cdevarakonda 30:c65bf90e8f47 55
as96 36:5c61710813b3 56 if (challenge.regenBrakingActive == true)
as96 36:5c61710813b3 57 { // REGEN BRAKING WITH OVERVOLTAGE SAFETY CHECK
as96 36:5c61710813b3 58 brakes.RegenControl(brakeRate,motor1);
as96 36:5c61710813b3 59
as96 36:5c61710813b3 60 }
cdevarakonda 27:5f801d4ca461 61
as96 36:5c61710813b3 62 else
as96 36:5c61710813b3 63 { // MECHANICAL BRAKING
as96 36:5c61710813b3 64 brakes.MechanicalBraking(brakeRate,motor1); // calls mechanical braking
jamesmcildowietfl 8:0fe9f7bde2f9 65 }
as96 36:5c61710813b3 66
as96 36:5c61710813b3 67 return;
rwcjoliver 0:4788e1df7b55 68 }
cdevarakonda 30:c65bf90e8f47 69 void emergencyStop()
cdevarakonda 30:c65bf90e8f47 70 {
cdevarakonda 30:c65bf90e8f47 71 brakes.EmergencyStop(motor1,rtc,emergencyStopActive); //invokes emergency stop code from brakes class
cdevarakonda 30:c65bf90e8f47 72 }
jamesmcildowietfl 8:0fe9f7bde2f9 73 //Motor code
as96 36:5c61710813b3 74 void speedControl(int commandedSpeed)
as96 36:5c61710813b3 75 {
as96 36:5c61710813b3 76 switch (commandedSpeed)
as96 36:5c61710813b3 77 {
jamesmcildowietfl 8:0fe9f7bde2f9 78
jamesmcildowietfl 8:0fe9f7bde2f9 79 default:
jamesmcildowietfl 8:0fe9f7bde2f9 80 break;
jamesmcildowietfl 8:0fe9f7bde2f9 81
jamesmcildowietfl 8:0fe9f7bde2f9 82 case 0:
jamesmcildowietfl 8:0fe9f7bde2f9 83 motor1.throttle(0.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 84 break;
jamesmcildowietfl 8:0fe9f7bde2f9 85
jamesmcildowietfl 8:0fe9f7bde2f9 86 case 1 ... 2:
jamesmcildowietfl 8:0fe9f7bde2f9 87 motor1.throttle(0.1f);
jamesmcildowietfl 8:0fe9f7bde2f9 88 break;
jamesmcildowietfl 8:0fe9f7bde2f9 89
jamesmcildowietfl 8:0fe9f7bde2f9 90 case 3 ... 4:
jamesmcildowietfl 8:0fe9f7bde2f9 91 motor1.throttle(0.2f);
jamesmcildowietfl 8:0fe9f7bde2f9 92 break;
jamesmcildowietfl 8:0fe9f7bde2f9 93
jamesmcildowietfl 8:0fe9f7bde2f9 94 case 5 ... 6:
jamesmcildowietfl 8:0fe9f7bde2f9 95 motor1.throttle(0.3f);
jamesmcildowietfl 8:0fe9f7bde2f9 96 break;
jamesmcildowietfl 8:0fe9f7bde2f9 97
jamesmcildowietfl 8:0fe9f7bde2f9 98 case 7 ... 8:
jamesmcildowietfl 8:0fe9f7bde2f9 99 motor1.throttle(0.4f);
jamesmcildowietfl 8:0fe9f7bde2f9 100 break;
jamesmcildowietfl 8:0fe9f7bde2f9 101
jamesmcildowietfl 8:0fe9f7bde2f9 102 case 9 ... 10:
jamesmcildowietfl 8:0fe9f7bde2f9 103 motor1.throttle(0.5f);
jamesmcildowietfl 8:0fe9f7bde2f9 104 break;
jamesmcildowietfl 8:0fe9f7bde2f9 105
jamesmcildowietfl 8:0fe9f7bde2f9 106 case 11:
jamesmcildowietfl 8:0fe9f7bde2f9 107 motor1.throttle(0.6f);
jamesmcildowietfl 8:0fe9f7bde2f9 108 break;
jamesmcildowietfl 8:0fe9f7bde2f9 109
jamesmcildowietfl 8:0fe9f7bde2f9 110 case 12:
jamesmcildowietfl 8:0fe9f7bde2f9 111 motor1.throttle(0.7f);
jamesmcildowietfl 8:0fe9f7bde2f9 112 break;
jamesmcildowietfl 8:0fe9f7bde2f9 113
jamesmcildowietfl 8:0fe9f7bde2f9 114 case 13:
jamesmcildowietfl 8:0fe9f7bde2f9 115 motor1.throttle(0.8f);
jamesmcildowietfl 8:0fe9f7bde2f9 116 break;
jamesmcildowietfl 8:0fe9f7bde2f9 117
jamesmcildowietfl 8:0fe9f7bde2f9 118 case 14:
jamesmcildowietfl 8:0fe9f7bde2f9 119 motor1.throttle(0.9f);
jamesmcildowietfl 8:0fe9f7bde2f9 120 break;
jamesmcildowietfl 8:0fe9f7bde2f9 121
jamesmcildowietfl 8:0fe9f7bde2f9 122 case 15:
jamesmcildowietfl 8:0fe9f7bde2f9 123 motor1.throttle(1.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 124 break;
jamesmcildowietfl 8:0fe9f7bde2f9 125 }
rwcjoliver 0:4788e1df7b55 126 }
cdevarakonda 32:771f6d99a77b 127 ///Energy Storage
cdevarakonda 32:771f6d99a77b 128 //energy storage display code
as96 36:5c61710813b3 129
cdevarakonda 32:771f6d99a77b 130 void EnergyStorage()
cdevarakonda 32:771f6d99a77b 131 {
cdevarakonda 32:771f6d99a77b 132 float current_powercab=((2*vout_powercab)-vref_powercab)*250; //voltage change to current conversion
cdevarakonda 32:771f6d99a77b 133 float current_supercap=((2*vout_supercap)-vref_supercap)*250;
cdevarakonda 32:771f6d99a77b 134 int t=1; //1 second interval
cdevarakonda 32:771f6d99a77b 135 int C= 250; //Capacitance Value
cdevarakonda 32:771f6d99a77b 136 float energy_supercap = (1/2) * (current_supercap * current_supercap) * (t*t) / C;
cdevarakonda 32:771f6d99a77b 137 float energy_powercab = (1/2) * (current_powercab * current_powercab) * (t*t) / C;
cdevarakonda 32:771f6d99a77b 138 int scap = static_cast<int>(energy_supercap);
cdevarakonda 33:9198b292a8eb 139 int pcab = static_cast<int>(current_powercab);//(current_powercab);
as96 36:5c61710813b3 140 //remote.sendData(9,scap);
as96 36:5c61710813b3 141 //remote.sendData(10,pcab);
as96 36:5c61710813b3 142 //printf("Power Cab Current = %2f\n",current_powercab);
as96 36:5c61710813b3 143 //printf("Super Cap Current = %2f\n",current_supercap);
as96 36:5c61710813b3 144 remote.sendData(9,current_powercab);
as96 36:5c61710813b3 145 remote.sendData(10,current_supercap);
cdevarakonda 32:771f6d99a77b 146
cdevarakonda 35:2f476d981896 147 }
as96 36:5c61710813b3 148
cdevarakonda 32:771f6d99a77b 149
rwcjoliver 0:4788e1df7b55 150
as96 36:5c61710813b3 151 int main()
as96 36:5c61710813b3 152 {
jamesmcildowietfl 8:0fe9f7bde2f9 153 pc.baud(115200);
as96 36:5c61710813b3 154
as96 36:5c61710813b3 155
as96 36:5c61710813b3 156
jamesmcildowietfl 8:0fe9f7bde2f9 157
jamesmcildowietfl 8:0fe9f7bde2f9 158 // CONFIGURE INTERRUPTS
jamesmcildowietfl 8:0fe9f7bde2f9 159 rtc_output.rise(&emergencyStop);
jamesmcildowietfl 8:0fe9f7bde2f9 160
jamesmcildowietfl 8:0fe9f7bde2f9 161 millisStart();
jamesmcildowietfl 8:0fe9f7bde2f9 162
jamesmcildowietfl 8:0fe9f7bde2f9 163 rtc_Trigger = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 164
jamesmcildowietfl 8:0fe9f7bde2f9 165 // LOCAL VARIABLES
jamesmcildowietfl 8:0fe9f7bde2f9 166 bool systemOn = false; // On/Off status of loco
jamesmcildowietfl 8:0fe9f7bde2f9 167 int lastKnownDirection = 2;
jamesmcildowietfl 8:0fe9f7bde2f9 168 bool inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 169
as96 36:5c61710813b3 170
jamesmcildowietfl 8:0fe9f7bde2f9 171 // Record last time error was sent
jamesmcildowietfl 8:0fe9f7bde2f9 172 unsigned long lastErrorMillis = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 173
jamesmcildowietfl 8:0fe9f7bde2f9 174 //MainLoop
as96 36:5c61710813b3 175 while (1)
as96 36:5c61710813b3 176 {
jamesmcildowietfl 8:0fe9f7bde2f9 177
as96 36:5c61710813b3 178 while (remote.commsGood == true)
as96 36:5c61710813b3 179 {
jamesmcildowietfl 8:0fe9f7bde2f9 180 /////Start Up///////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 181
jamesmcildowietfl 8:0fe9f7bde2f9 182 /////Checking Modes from controller/////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 183 // PING
jamesmcildowietfl 8:0fe9f7bde2f9 184 remote.commsCheck();
jamesmcildowietfl 8:0fe9f7bde2f9 185
jamesmcildowietfl 8:0fe9f7bde2f9 186 // GET SWITCH STATES
jamesmcildowietfl 8:0fe9f7bde2f9 187 remote.getSwitchStates();
jamesmcildowietfl 8:0fe9f7bde2f9 188
jamesmcildowietfl 8:0fe9f7bde2f9 189 // ALLOW BRAKES TO BE OPERATED
jamesmcildowietfl 8:0fe9f7bde2f9 190 brakeControl(remote.braking);
cdevarakonda 32:771f6d99a77b 191
cdevarakonda 32:771f6d99a77b 192 //Energy Storage Display
as96 36:5c61710813b3 193 EnergyStorage();
jamesmcildowietfl 8:0fe9f7bde2f9 194
jamesmcildowietfl 8:0fe9f7bde2f9 195 // SOUND WHISTLE IF WHISTLE BUTTON PRESSED
as96 36:5c61710813b3 196 remote.whistle == 0 ? whistle = 1 : whistle = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 197
jamesmcildowietfl 8:0fe9f7bde2f9 198 // GET AND DISPLAY SPEED
jamesmcildowietfl 8:0fe9f7bde2f9 199 dashboard.getCurrentSpeed();
jamesmcildowietfl 8:0fe9f7bde2f9 200 remote.sendData(2, dashboard.currentSpeed); // Send speed to remote
as96 36:5c61710813b3 201 //sprintf(dataToSend, "%f", dashboard.currentSpeed);
as96 36:5c61710813b3 202 lcd1.sendData(2,dashboard.currentSpeed);
as96 36:5c61710813b3 203
jamesmcildowietfl 8:0fe9f7bde2f9 204
jamesmcildowietfl 8:0fe9f7bde2f9 205 // TOGGLE COMPRESSOR
jamesmcildowietfl 8:0fe9f7bde2f9 206 remote.compressor == 0 ? contactCompressor = 1 : contactCompressor = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 207
jamesmcildowietfl 8:0fe9f7bde2f9 208 // TOGGLE MOTOR CONTROLLER DEADMAN (SEAT SWITCH AND FOOTBRAKE)
as96 36:5c61710813b3 209 if (rtc.deadman == 0)
as96 36:5c61710813b3 210 { // IF DEADMAN PRESSED
jamesmcildowietfl 8:0fe9f7bde2f9 211 motor1.closeDeadman();
jamesmcildowietfl 8:0fe9f7bde2f9 212 }
as96 36:5c61710813b3 213 else
as96 36:5c61710813b3 214 {
jamesmcildowietfl 8:0fe9f7bde2f9 215 motor1.releaseDeadman();
jamesmcildowietfl 8:0fe9f7bde2f9 216 }
jamesmcildowietfl 8:0fe9f7bde2f9 217
jamesmcildowietfl 8:0fe9f7bde2f9 218 // TOGGLE REGEN THROTTLING
as96 36:5c61710813b3 219 if (challenge.regenThrottleActive == false)
as96 36:5c61710813b3 220 {
as96 36:5c61710813b3 221 if (remote.regenThrottle == 0 && remote.start == 0)
as96 36:5c61710813b3 222 { // TURN OFF IF ON
as96 36:5c61710813b3 223 challenge.regenThrottleOn();
as96 36:5c61710813b3 224 }
jamesmcildowietfl 8:0fe9f7bde2f9 225 }
as96 36:5c61710813b3 226 else
as96 36:5c61710813b3 227 {
as96 36:5c61710813b3 228 remote.sendError('B'); // Send error to remote
as96 36:5c61710813b3 229 //lcd1.sendError('B');
as96 36:5c61710813b3 230 if (remote.regenThrottle == 1)
as96 36:5c61710813b3 231 { // TURN ON IF OFF
as96 36:5c61710813b3 232 challenge.regenThrottleOff();
as96 36:5c61710813b3 233 }
jamesmcildowietfl 8:0fe9f7bde2f9 234 }
rwcjoliver 0:4788e1df7b55 235
jamesmcildowietfl 8:0fe9f7bde2f9 236 // TOGGLE REGEN BRAKING
as96 36:5c61710813b3 237 if (challenge.regenBrakingActive == false)
as96 36:5c61710813b3 238 {
as96 36:5c61710813b3 239 if (remote.regenBrake == 0 && remote.start == 0)
as96 36:5c61710813b3 240 { // TURN OFF IF ON
as96 36:5c61710813b3 241 if (challenge.regenBrakingOn() == 0)
as96 36:5c61710813b3 242 {
as96 36:5c61710813b3 243 remote.sendError('I'); // Send error to remote
as96 36:5c61710813b3 244
as96 36:5c61710813b3 245 //pc.printf("Regen Braking Off - SuperCaps are full\r\n");
as96 36:5c61710813b3 246 }
as96 36:5c61710813b3 247 }
jamesmcildowietfl 8:0fe9f7bde2f9 248 }
as96 36:5c61710813b3 249 else
as96 36:5c61710813b3 250 {
as96 36:5c61710813b3 251 remote.sendError('C'); // Send error to remote
as96 36:5c61710813b3 252 //lcd1.sendError('C');
as96 36:5c61710813b3 253 if (remote.regenBrake == 1)
as96 36:5c61710813b3 254 { // TURN OFF
as96 36:5c61710813b3 255 challenge.regenBrakingOff();
as96 36:5c61710813b3 256 if (superCapVoltage == 1)
as96 36:5c61710813b3 257 {
as96 36:5c61710813b3 258 //pc.printf("Regen Braking Off - SuperCaps are full\r\n");
as96 36:5c61710813b3 259 remote.sendError('I'); // Send error to remote
as96 36:5c61710813b3 260 }
as96 36:5c61710813b3 261 }
jamesmcildowietfl 8:0fe9f7bde2f9 262 }
rwcjoliver 0:4788e1df7b55 263
jamesmcildowietfl 8:0fe9f7bde2f9 264 // TOGGLE AUTOSTOP
as96 36:5c61710813b3 265 if (challenge.autoStopActive == 0)
as96 36:5c61710813b3 266 {
as96 36:5c61710813b3 267 if (remote.autoStop == 0 && remote.start == 0)
as96 36:5c61710813b3 268 { // TURN OFF IF ON
as96 36:5c61710813b3 269 challenge.autoStopOn();
as96 36:5c61710813b3 270 }
jamesmcildowietfl 8:0fe9f7bde2f9 271 }
as96 36:5c61710813b3 272 else
as96 36:5c61710813b3 273 {
as96 36:5c61710813b3 274 remote.sendError('D'); // Send error to remote
as96 36:5c61710813b3 275 //lcd1.sendError('D');
as96 36:5c61710813b3 276 if (remote.autoStop == 1)
as96 36:5c61710813b3 277 { // TURN ON IF OFF
as96 36:5c61710813b3 278 challenge.autoStopOff();
as96 36:5c61710813b3 279 }
jamesmcildowietfl 8:0fe9f7bde2f9 280 }
rwcjoliver 0:4788e1df7b55 281
jamesmcildowietfl 8:0fe9f7bde2f9 282 /////END OF TOGGLE CHECKS//////////////////////////////////////////////////////////////////////////////////////////////
rwcjoliver 0:4788e1df7b55 283
jamesmcildowietfl 8:0fe9f7bde2f9 284 /////Control///////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 285 //Is a Toggle check, but it is the train start swtich A
as96 36:5c61710813b3 286 if (systemOn == false)
as96 36:5c61710813b3 287 {
as96 36:5c61710813b3 288 if (remote.start == 1)
as96 36:5c61710813b3 289 {
as96 36:5c61710813b3 290 if (millis() - lastErrorMillis > 500)
as96 36:5c61710813b3 291 {
as96 36:5c61710813b3 292 remote.sendError('A'); // SEND ERROR MESSAGE 'A' TO REMOTE
as96 36:5c61710813b3 293 lcd1.sendError('A');
as96 36:5c61710813b3 294 lastErrorMillis = millis();
as96 36:5c61710813b3 295 }
as96 36:5c61710813b3 296 motor1.turnOff();
as96 36:5c61710813b3 297 }
as96 36:5c61710813b3 298 else
as96 36:5c61710813b3 299 {
as96 36:5c61710813b3 300 systemOn = true;
as96 36:5c61710813b3 301 motor1.turnOn(); // Turn on motors
as96 36:5c61710813b3 302 }
jamesmcildowietfl 8:0fe9f7bde2f9 303 } // END IF SYSTEMON = FALSE
jamesmcildowietfl 8:0fe9f7bde2f9 304 //If train is switched on and in start do this start///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
as96 36:5c61710813b3 305 else
as96 36:5c61710813b3 306 { // IF SYSTEMON == TRUE
as96 36:5c61710813b3 307 if (remote.start == 1)
as96 36:5c61710813b3 308 {
as96 36:5c61710813b3 309 systemOn = false; // WILL STOP ABOVE HERE NEXT LOOP
as96 36:5c61710813b3 310 }
jamesmcildowietfl 15:4976d145fbd9 311
as96 36:5c61710813b3 312 //Set foward
as96 36:5c61710813b3 313 if (driveMode != 0 && remote.forward == 0)
as96 36:5c61710813b3 314 {
as96 36:5c61710813b3 315 driveMode = 0;
as96 36:5c61710813b3 316 motor1.setForward();
as96 36:5c61710813b3 317 frontLight=1;
as96 36:5c61710813b3 318 backLight=0;
as96 36:5c61710813b3 319 }
as96 36:5c61710813b3 320 //Set reverse
as96 36:5c61710813b3 321 if (driveMode != 1 && remote.reverse == 0)
as96 36:5c61710813b3 322 {
as96 36:5c61710813b3 323 driveMode = 1;
as96 36:5c61710813b3 324 motor1.setReverse();
as96 36:5c61710813b3 325 backLight=1;
as96 36:5c61710813b3 326 frontLight=0;
as96 36:5c61710813b3 327 }
as96 36:5c61710813b3 328 //Set park
as96 36:5c61710813b3 329 if (driveMode != 2 && remote.park == 0)
as96 36:5c61710813b3 330 {
as96 36:5c61710813b3 331 driveMode = 2;
as96 36:5c61710813b3 332 motor1.setPark();
as96 36:5c61710813b3 333 motor1.throttle(0);
as96 36:5c61710813b3 334 }
as96 36:5c61710813b3 335 ////Park Mode
as96 36:5c61710813b3 336 if (driveMode == 2)
as96 36:5c61710813b3 337 {
as96 36:5c61710813b3 338 brakes.ParkMode(motor1); //place in park mode if selected by driver
as96 36:5c61710813b3 339 backLight=0;
as96 36:5c61710813b3 340 frontLight=0;
jamesmcildowietfl 8:0fe9f7bde2f9 341
as96 36:5c61710813b3 342 if (emergencyStopActive == true && rtc_output.read() == 0)
as96 36:5c61710813b3 343 { // Clear emergency stop flag
as96 36:5c61710813b3 344 emergencyStopActive = false;
as96 36:5c61710813b3 345 }
jamesmcildowietfl 8:0fe9f7bde2f9 346
as96 36:5c61710813b3 347 led_parkMode = 1;
as96 36:5c61710813b3 348 inParkMode = true;
as96 36:5c61710813b3 349 motor1.setPark();
rwcjoliver 0:4788e1df7b55 350 }
rwcjoliver 0:4788e1df7b55 351
as96 36:5c61710813b3 352 ////Drive
as96 36:5c61710813b3 353 else
as96 36:5c61710813b3 354 { //else i.e if selected drive mode is forward or reverse
as96 36:5c61710813b3 355 ////////////////// Start of check for error G RTC clear
as96 36:5c61710813b3 356 if (emergencyStopActive == false && rtc_output.read() == 0)
as96 36:5c61710813b3 357 { // IF RTC FLAGGED AS SAFE
as96 36:5c61710813b3 358
as96 36:5c61710813b3 359 led_parkMode = 0;
as96 36:5c61710813b3 360 inParkMode = false;
as96 36:5c61710813b3 361
as96 36:5c61710813b3 362 if (driveMode != lastKnownDirection)
as96 36:5c61710813b3 363 {
as96 36:5c61710813b3 364 //pc.printf("Train enabled for direction %d\r\n", driveMode);
as96 36:5c61710813b3 365
as96 36:5c61710813b3 366 lastKnownDirection = driveMode;
as96 36:5c61710813b3 367 }
jamesmcildowietfl 8:0fe9f7bde2f9 368
as96 36:5c61710813b3 369 ////Call autostop challenge
as96 36:5c61710813b3 370 if (challenge.autoStopInProgress == true)
as96 36:5c61710813b3 371 { // IF AUTOSTOPPING, PASS THROTTLE CONTROL TO FUNCTION
as96 36:5c61710813b3 372 challenge.autoStopControl();
as96 36:5c61710813b3 373 //pc.printf("Autostop in Control\r\n");
as96 36:5c61710813b3 374 }
as96 36:5c61710813b3 375 //Use controls from remote
as96 36:5c61710813b3 376 else
as96 36:5c61710813b3 377 { // OTHERWISE INPUT THROTTLE FROM REMOTE
as96 36:5c61710813b3 378 if (remote.throttle > 0)
as96 36:5c61710813b3 379 { // If joystick pushed upwards = throttle
as96 36:5c61710813b3 380 //normal throttle control
as96 36:5c61710813b3 381 speedControl(remote.throttle);
as96 36:5c61710813b3 382 //pc.printf("Throttling: %d\r\n", remote.throttle);
as96 36:5c61710813b3 383
as96 36:5c61710813b3 384 } // remote.throttle
as96 36:5c61710813b3 385 ///if nothing set to 0
as96 36:5c61710813b3 386 else
as96 36:5c61710813b3 387 {
as96 36:5c61710813b3 388 speedControl(0);
as96 36:5c61710813b3 389 }
as96 36:5c61710813b3 390 }
as96 36:5c61710813b3 391
rwcjoliver 0:4788e1df7b55 392 }
as96 36:5c61710813b3 393 ////////////////// End of check for error G RTC clear
as96 36:5c61710813b3 394 else
as96 36:5c61710813b3 395 {
as96 36:5c61710813b3 396 //pc.printf("Cannot exit park mode until RTC is cleared\r\n");
as96 36:5c61710813b3 397 inParkMode = false;
as96 36:5c61710813b3 398 remote.sendError('G'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 399 }
jamesmcildowietfl 8:0fe9f7bde2f9 400 }
jamesmcildowietfl 8:0fe9f7bde2f9 401 //Datalogger Chai Funciton
as96 36:5c61710813b3 402 //DisplaySerial(); // Enable if you want to know what is happening with the peripherals
jamesmcildowietfl 8:0fe9f7bde2f9 403 } // END IF (SYSTEMON == TRUE)
jamesmcildowietfl 8:0fe9f7bde2f9 404 //If train is switched on and in start do this end///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
rwcjoliver 0:4788e1df7b55 405
jamesmcildowietfl 19:a4afd3a6bdfb 406 wait_ms(25); // SLOW DOWN THE SYSTEM (REMOTE CANT KEEP UP)
jamesmcildowietfl 8:0fe9f7bde2f9 407 } // END WHILE(COMMSGOOD)
jamesmcildowietfl 8:0fe9f7bde2f9 408 pc.printf("Main Loop Skipped Due To Emergency Status\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 409 emergencyStop(); // Emergency stop if comms lost with remote controller
rwcjoliver 0:4788e1df7b55 410
rwcjoliver 0:4788e1df7b55 411
jamesmcildowietfl 8:0fe9f7bde2f9 412 } //END WHILE(1)
jamesmcildowietfl 8:0fe9f7bde2f9 413 }