Railway Challenge / Mbed 2 deprecated challenge-ChaiUpdated-AutostopTest-30Throttle

This is a test from 30%Throttle to stop, using full service brake

Dependencies:   mbed millis

main.cpp@29:2ed4d9c309fc, 24 months ago (annotated)

Committer:
cdevarakonda
Date:
Wed Jun 15 13:38:05 2022 +0000
Revision:
29:2ed4d9c309fc
Parent:
28:1086791972d0
Child:
30:c65bf90e8f47
added brake control redundancy

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 29:2ed4d9c309fc 67 //inParkMode=true;
cdevarakonda 28:1086791972d0 68 //brakes1.BrakesOn();
jamesmcildowietfl 18:d28d458824d4 69 }
jamesmcildowietfl 18:d28d458824d4 70 else {//REGEN BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 71 if (challenge.regenBrakingActive == true) { // REGEN BRAKING WITH OVERVOLTAGE SAFETY CHECK
cdevarakonda 25:1e42ee248b89 72 //motor1.setPark();
cdevarakonda 27:5f801d4ca461 73 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 74
cdevarakonda 27:5f801d4ca461 75
cdevarakonda 27:5f801d4ca461 76 default:
cdevarakonda 27:5f801d4ca461 77 break;
cdevarakonda 27:5f801d4ca461 78
cdevarakonda 27:5f801d4ca461 79 case 0:
cdevarakonda 27:5f801d4ca461 80 motor1.brake(0.0f);
cdevarakonda 27:5f801d4ca461 81 break;
cdevarakonda 27:5f801d4ca461 82
cdevarakonda 27:5f801d4ca461 83 case 1:
cdevarakonda 27:5f801d4ca461 84 motor1.brake(0.25f);
cdevarakonda 27:5f801d4ca461 85 break;
cdevarakonda 27:5f801d4ca461 86
cdevarakonda 27:5f801d4ca461 87 case 2:
cdevarakonda 27:5f801d4ca461 88 motor1.brake(0.5f);
cdevarakonda 27:5f801d4ca461 89 break;
cdevarakonda 27:5f801d4ca461 90
cdevarakonda 27:5f801d4ca461 91 case 3:
cdevarakonda 27:5f801d4ca461 92 motor1.brake(0.75f);
cdevarakonda 27:5f801d4ca461 93 break;
cdevarakonda 27:5f801d4ca461 94
cdevarakonda 27:5f801d4ca461 95 case 4:
cdevarakonda 27:5f801d4ca461 96 motor1.brake(1.0f);
cdevarakonda 27:5f801d4ca461 97 break;
jamesmcildowietfl 8:0fe9f7bde2f9 98 }
cdevarakonda 26:6275acef6bfd 99 //else {
cdevarakonda 26:6275acef6bfd 100 //motor1.setForward();
cdevarakonda 28:1086791972d0 101 }
cdevarakonda 27:5f801d4ca461 102
jamesmcildowietfl 8:0fe9f7bde2f9 103 else { // MECHANICAL BRAKING
cdevarakonda 27:5f801d4ca461 104 // int bR=static_cast <int>(brakeRate); //type casting brake rate to int for mechanical cases
jamesmcildowietfl 8:0fe9f7bde2f9 105 switch (brakeRate) {
jamesmcildowietfl 8:0fe9f7bde2f9 106 case 0: // NO BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 107 brakeValve32 = 1;//(PF_2)
jamesmcildowietfl 18:d28d458824d4 108 brakeValve22 = 1;//(PF_8)
jamesmcildowietfl 8:0fe9f7bde2f9 109 break;
jamesmcildowietfl 8:0fe9f7bde2f9 110
jamesmcildowietfl 8:0fe9f7bde2f9 111 case 1: //HALF BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 112 motor1.throttle(0.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 113 brakeValve32 = 0;//(PF_2)
jamesmcildowietfl 18:d28d458824d4 114 brakeValve22 = 1;//(PF_8)
jamesmcildowietfl 8:0fe9f7bde2f9 115 break;
jamesmcildowietfl 2:d8d92dfc9c82 116
jamesmcildowietfl 8:0fe9f7bde2f9 117 case 2 ... 4 : //FULL BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 118 motor1.throttle(0.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 119 brakeValve32 = 0;//(PF_2)
jamesmcildowietfl 18:d28d458824d4 120 brakeValve22 = 0;//(PF_8)
jamesmcildowietfl 8:0fe9f7bde2f9 121 break;
jamesmcildowietfl 8:0fe9f7bde2f9 122
jamesmcildowietfl 8:0fe9f7bde2f9 123 default: // NO BRAKING
jamesmcildowietfl 18:d28d458824d4 124 brakeValve32 = 1;//(PF_2)
jamesmcildowietfl 18:d28d458824d4 125 brakeValve22 = 1;//(PF_8)
jamesmcildowietfl 8:0fe9f7bde2f9 126 break;
jamesmcildowietfl 8:0fe9f7bde2f9 127 }
jamesmcildowietfl 8:0fe9f7bde2f9 128 }
jamesmcildowietfl 18:d28d458824d4 129 }
jamesmcildowietfl 8:0fe9f7bde2f9 130 return;
rwcjoliver 0:4788e1df7b55 131 }
rwcjoliver 0:4788e1df7b55 132
jamesmcildowietfl 8:0fe9f7bde2f9 133 //Motor code
rwcjoliver 0:4788e1df7b55 134 void speedControl(int commandedSpeed) {
jamesmcildowietfl 8:0fe9f7bde2f9 135 switch (commandedSpeed) {
jamesmcildowietfl 8:0fe9f7bde2f9 136
jamesmcildowietfl 8:0fe9f7bde2f9 137 default:
jamesmcildowietfl 8:0fe9f7bde2f9 138 break;
jamesmcildowietfl 8:0fe9f7bde2f9 139
jamesmcildowietfl 8:0fe9f7bde2f9 140 case 0:
jamesmcildowietfl 8:0fe9f7bde2f9 141 motor1.throttle(0.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 142 break;
jamesmcildowietfl 8:0fe9f7bde2f9 143
jamesmcildowietfl 8:0fe9f7bde2f9 144 case 1 ... 2:
jamesmcildowietfl 8:0fe9f7bde2f9 145 motor1.throttle(0.1f);
jamesmcildowietfl 8:0fe9f7bde2f9 146 break;
jamesmcildowietfl 8:0fe9f7bde2f9 147
jamesmcildowietfl 8:0fe9f7bde2f9 148 case 3 ... 4:
jamesmcildowietfl 8:0fe9f7bde2f9 149 motor1.throttle(0.2f);
jamesmcildowietfl 8:0fe9f7bde2f9 150 break;
jamesmcildowietfl 8:0fe9f7bde2f9 151
jamesmcildowietfl 8:0fe9f7bde2f9 152 case 5 ... 6:
jamesmcildowietfl 8:0fe9f7bde2f9 153 motor1.throttle(0.3f);
jamesmcildowietfl 8:0fe9f7bde2f9 154 break;
jamesmcildowietfl 8:0fe9f7bde2f9 155
jamesmcildowietfl 8:0fe9f7bde2f9 156 case 7 ... 8:
jamesmcildowietfl 8:0fe9f7bde2f9 157 motor1.throttle(0.4f);
jamesmcildowietfl 8:0fe9f7bde2f9 158 break;
jamesmcildowietfl 8:0fe9f7bde2f9 159
jamesmcildowietfl 8:0fe9f7bde2f9 160 case 9 ... 10:
jamesmcildowietfl 8:0fe9f7bde2f9 161 motor1.throttle(0.5f);
jamesmcildowietfl 8:0fe9f7bde2f9 162 break;
jamesmcildowietfl 8:0fe9f7bde2f9 163
jamesmcildowietfl 8:0fe9f7bde2f9 164 case 11:
jamesmcildowietfl 8:0fe9f7bde2f9 165 motor1.throttle(0.6f);
jamesmcildowietfl 8:0fe9f7bde2f9 166 break;
jamesmcildowietfl 8:0fe9f7bde2f9 167
jamesmcildowietfl 8:0fe9f7bde2f9 168 case 12:
jamesmcildowietfl 8:0fe9f7bde2f9 169 motor1.throttle(0.7f);
jamesmcildowietfl 8:0fe9f7bde2f9 170 break;
jamesmcildowietfl 8:0fe9f7bde2f9 171
jamesmcildowietfl 8:0fe9f7bde2f9 172 case 13:
jamesmcildowietfl 8:0fe9f7bde2f9 173 motor1.throttle(0.8f);
jamesmcildowietfl 8:0fe9f7bde2f9 174 break;
jamesmcildowietfl 8:0fe9f7bde2f9 175
jamesmcildowietfl 8:0fe9f7bde2f9 176 case 14:
jamesmcildowietfl 8:0fe9f7bde2f9 177 motor1.throttle(0.9f);
jamesmcildowietfl 8:0fe9f7bde2f9 178 break;
jamesmcildowietfl 8:0fe9f7bde2f9 179
jamesmcildowietfl 8:0fe9f7bde2f9 180 case 15:
jamesmcildowietfl 8:0fe9f7bde2f9 181 motor1.throttle(1.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 182 break;
jamesmcildowietfl 8:0fe9f7bde2f9 183 }
rwcjoliver 0:4788e1df7b55 184 }
rwcjoliver 0:4788e1df7b55 185
jamesmcildowietfl 8:0fe9f7bde2f9 186 int main() {
jamesmcildowietfl 8:0fe9f7bde2f9 187 pc.baud(115200);
jamesmcildowietfl 8:0fe9f7bde2f9 188
jamesmcildowietfl 8:0fe9f7bde2f9 189 // CONFIGURE INTERRUPTS
jamesmcildowietfl 8:0fe9f7bde2f9 190 rtc_output.rise(&emergencyStop);
jamesmcildowietfl 8:0fe9f7bde2f9 191
jamesmcildowietfl 8:0fe9f7bde2f9 192 millisStart();
jamesmcildowietfl 8:0fe9f7bde2f9 193
jamesmcildowietfl 8:0fe9f7bde2f9 194 rtc_Trigger = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 195
jamesmcildowietfl 8:0fe9f7bde2f9 196 // LOCAL VARIABLES
jamesmcildowietfl 8:0fe9f7bde2f9 197 bool systemOn = false; // On/Off status of loco
jamesmcildowietfl 8:0fe9f7bde2f9 198 int lastKnownDirection = 2;
jamesmcildowietfl 8:0fe9f7bde2f9 199 bool inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 200
jamesmcildowietfl 8:0fe9f7bde2f9 201 // Record last time error was sent
jamesmcildowietfl 8:0fe9f7bde2f9 202 unsigned long lastErrorMillis = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 203
jamesmcildowietfl 8:0fe9f7bde2f9 204 //MainLoop
jamesmcildowietfl 8:0fe9f7bde2f9 205 while (1) {
jamesmcildowietfl 8:0fe9f7bde2f9 206
jamesmcildowietfl 8:0fe9f7bde2f9 207 while (remote.commsGood == true) {
jamesmcildowietfl 8:0fe9f7bde2f9 208 /////Start Up///////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 209
jamesmcildowietfl 8:0fe9f7bde2f9 210 /////Checking Modes from controller/////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 211 // PING
jamesmcildowietfl 8:0fe9f7bde2f9 212 remote.commsCheck();
jamesmcildowietfl 8:0fe9f7bde2f9 213
jamesmcildowietfl 8:0fe9f7bde2f9 214 // GET SWITCH STATES
jamesmcildowietfl 8:0fe9f7bde2f9 215 remote.getSwitchStates();
jamesmcildowietfl 8:0fe9f7bde2f9 216
jamesmcildowietfl 8:0fe9f7bde2f9 217 // ALLOW BRAKES TO BE OPERATED
jamesmcildowietfl 8:0fe9f7bde2f9 218 brakeControl(remote.braking);
jamesmcildowietfl 8:0fe9f7bde2f9 219
jamesmcildowietfl 8:0fe9f7bde2f9 220 // SOUND WHISTLE IF WHISTLE BUTTON PRESSED
jamesmcildowietfl 8:0fe9f7bde2f9 221 if (remote.whistle == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 222 whistleValve32 = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 223 }
jamesmcildowietfl 8:0fe9f7bde2f9 224 else {
jamesmcildowietfl 8:0fe9f7bde2f9 225 whistleValve32 = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 226 }
jamesmcildowietfl 8:0fe9f7bde2f9 227
jamesmcildowietfl 8:0fe9f7bde2f9 228 // GET AND DISPLAY SPEED
jamesmcildowietfl 8:0fe9f7bde2f9 229 dashboard.getCurrentSpeed();
jamesmcildowietfl 8:0fe9f7bde2f9 230 remote.sendData(2, dashboard.currentSpeed); // Send speed to remote
jamesmcildowietfl 8:0fe9f7bde2f9 231
jamesmcildowietfl 8:0fe9f7bde2f9 232 // TOGGLE COMPRESSOR
jamesmcildowietfl 8:0fe9f7bde2f9 233 remote.compressor == 0 ? contactCompressor = 1 : contactCompressor = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 234
jamesmcildowietfl 8:0fe9f7bde2f9 235 // TOGGLE MOTOR CONTROLLER DEADMAN (SEAT SWITCH AND FOOTBRAKE)
jamesmcildowietfl 8:0fe9f7bde2f9 236 if (rtc.deadman == 0) { // IF DEADMAN PRESSED
jamesmcildowietfl 8:0fe9f7bde2f9 237 motor1.closeDeadman();
jamesmcildowietfl 8:0fe9f7bde2f9 238 }
jamesmcildowietfl 8:0fe9f7bde2f9 239 else {
jamesmcildowietfl 8:0fe9f7bde2f9 240 motor1.releaseDeadman();
jamesmcildowietfl 8:0fe9f7bde2f9 241 }
jamesmcildowietfl 8:0fe9f7bde2f9 242
jamesmcildowietfl 8:0fe9f7bde2f9 243 // TOGGLE REGEN THROTTLING
jamesmcildowietfl 8:0fe9f7bde2f9 244 if (challenge.regenThrottleActive == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 245 if (remote.regenThrottle == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 246 challenge.regenThrottleOn();
rwcjoliver 0:4788e1df7b55 247 }
jamesmcildowietfl 8:0fe9f7bde2f9 248 }
jamesmcildowietfl 8:0fe9f7bde2f9 249 else {
jamesmcildowietfl 8:0fe9f7bde2f9 250 remote.sendError('B'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 251 if (remote.regenThrottle == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 252 challenge.regenThrottleOff();
jamesmcildowietfl 8:0fe9f7bde2f9 253 }
jamesmcildowietfl 8:0fe9f7bde2f9 254 }
rwcjoliver 0:4788e1df7b55 255
jamesmcildowietfl 8:0fe9f7bde2f9 256 // TOGGLE REGEN BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 257 if (challenge.regenBrakingActive == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 258 if (remote.regenBrake == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 259 if (challenge.regenBrakingOn() == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 260 remote.sendError('I'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 261 pc.printf("Regen Braking Off - SuperCaps are full\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 262 }
jamesmcildowietfl 8:0fe9f7bde2f9 263 }
jamesmcildowietfl 8:0fe9f7bde2f9 264 }
jamesmcildowietfl 8:0fe9f7bde2f9 265 else {
jamesmcildowietfl 8:0fe9f7bde2f9 266 remote.sendError('C'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 267 if (remote.regenBrake == 1) { // TURN OFF
jamesmcildowietfl 8:0fe9f7bde2f9 268 challenge.regenBrakingOff();
jamesmcildowietfl 8:0fe9f7bde2f9 269 if (superCapVoltage == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 270 pc.printf("Regen Braking Off - SuperCaps are full\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 271 remote.sendError('I'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 272 }
jamesmcildowietfl 8:0fe9f7bde2f9 273 }
jamesmcildowietfl 8:0fe9f7bde2f9 274 }
rwcjoliver 0:4788e1df7b55 275
jamesmcildowietfl 8:0fe9f7bde2f9 276 // TOGGLE AUTOSTOP
jamesmcildowietfl 8:0fe9f7bde2f9 277 if (challenge.autoStopActive == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 278 if (remote.autoStop == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 279 challenge.autoStopOn();
jamesmcildowietfl 8:0fe9f7bde2f9 280 }
jamesmcildowietfl 8:0fe9f7bde2f9 281 }
jamesmcildowietfl 8:0fe9f7bde2f9 282 else {
jamesmcildowietfl 8:0fe9f7bde2f9 283 remote.sendError('D'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 284 if (remote.autoStop == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 285 challenge.autoStopOff();
jamesmcildowietfl 8:0fe9f7bde2f9 286 }
jamesmcildowietfl 8:0fe9f7bde2f9 287 }
rwcjoliver 0:4788e1df7b55 288
jamesmcildowietfl 8:0fe9f7bde2f9 289 // TOGGLE INNOVATION
jamesmcildowietfl 8:0fe9f7bde2f9 290 if (challenge.innovationActive == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 291 if (remote.innovation == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 292 if (driveMode == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 293 challenge.innovationOn();
jamesmcildowietfl 8:0fe9f7bde2f9 294 }
jamesmcildowietfl 8:0fe9f7bde2f9 295 else {
jamesmcildowietfl 8:0fe9f7bde2f9 296 remote.sendError('J'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 297 pc.printf("Can only active innovation mode in forward direction\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 298 }
jamesmcildowietfl 8:0fe9f7bde2f9 299 }
jamesmcildowietfl 8:0fe9f7bde2f9 300 }
jamesmcildowietfl 8:0fe9f7bde2f9 301 else {
jamesmcildowietfl 8:0fe9f7bde2f9 302 remote.sendError('E'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 303
jamesmcildowietfl 8:0fe9f7bde2f9 304 if (remote.innovation == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 305 challenge.innovationOff();
jamesmcildowietfl 8:0fe9f7bde2f9 306 }
jamesmcildowietfl 8:0fe9f7bde2f9 307 }
jamesmcildowietfl 8:0fe9f7bde2f9 308 /////END OF TOGGLE CHECKS//////////////////////////////////////////////////////////////////////////////////////////////
rwcjoliver 0:4788e1df7b55 309
jamesmcildowietfl 8:0fe9f7bde2f9 310 /////Control///////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 311 //Is a Toggle check, but it is the train start swtich A
jamesmcildowietfl 8:0fe9f7bde2f9 312 if (systemOn == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 313 if (remote.start == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 314 if (millis() - lastErrorMillis > 500) {
jamesmcildowietfl 8:0fe9f7bde2f9 315 remote.sendError('A'); // SEND ERROR MESSAGE 'A' TO REMOTE
jamesmcildowietfl 8:0fe9f7bde2f9 316 lastErrorMillis = millis();
jamesmcildowietfl 8:0fe9f7bde2f9 317 }
jamesmcildowietfl 8:0fe9f7bde2f9 318 motor1.turnOff();
jamesmcildowietfl 8:0fe9f7bde2f9 319 }
jamesmcildowietfl 8:0fe9f7bde2f9 320 else {
jamesmcildowietfl 8:0fe9f7bde2f9 321 systemOn = true;
jamesmcildowietfl 8:0fe9f7bde2f9 322 motor1.turnOn(); // Turn on motors
jamesmcildowietfl 8:0fe9f7bde2f9 323 }
jamesmcildowietfl 8:0fe9f7bde2f9 324 } // END IF SYSTEMON = FALSE
jamesmcildowietfl 8:0fe9f7bde2f9 325 //If train is switched on and in start do this start///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 326 else { // IF SYSTEMON == TRUE
jamesmcildowietfl 8:0fe9f7bde2f9 327 if (remote.start == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 328 systemOn = false; // WILL STOP ABOVE HERE NEXT LOOP
jamesmcildowietfl 8:0fe9f7bde2f9 329 pc.printf("Start Switch is Off\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 330 }
jamesmcildowietfl 15:4976d145fbd9 331
jamesmcildowietfl 8:0fe9f7bde2f9 332 //Set foward
jamesmcildowietfl 8:0fe9f7bde2f9 333 if (driveMode != 0 && remote.forward == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 334 driveMode = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 335 motor1.setForward();
jamesmcildowietfl 8:0fe9f7bde2f9 336 }
jamesmcildowietfl 8:0fe9f7bde2f9 337 //Set reverse
jamesmcildowietfl 8:0fe9f7bde2f9 338 if (driveMode != 1 && remote.reverse == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 339 driveMode = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 340 motor1.setReverse();
jamesmcildowietfl 8:0fe9f7bde2f9 341 }
jamesmcildowietfl 8:0fe9f7bde2f9 342 //Set park
jamesmcildowietfl 8:0fe9f7bde2f9 343 if (driveMode != 2 && remote.park == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 344 driveMode = 2;
jamesmcildowietfl 8:0fe9f7bde2f9 345 motor1.setPark();
jamesmcildowietfl 8:0fe9f7bde2f9 346 motor1.throttle(0);
jamesmcildowietfl 8:0fe9f7bde2f9 347 }
jamesmcildowietfl 8:0fe9f7bde2f9 348 ////Park Mode
cdevarakonda 29:2ed4d9c309fc 349 if (driveMode == 2) {
cdevarakonda 29:2ed4d9c309fc 350 brakeControl(4); //place in park mode if selected by driver
jamesmcildowietfl 18:d28d458824d4 351 if (inParkMode == false) {
jamesmcildowietfl 18:d28d458824d4 352 pc.printf("Train in park mode.\r\n"); //why?
jamesmcildowietfl 18:d28d458824d4 353 }
jamesmcildowietfl 8:0fe9f7bde2f9 354
jamesmcildowietfl 8:0fe9f7bde2f9 355 if (emergencyStopActive == true && rtc_output.read() == 0) { // Clear emergency stop flag
jamesmcildowietfl 8:0fe9f7bde2f9 356 emergencyStopActive = false;
jamesmcildowietfl 8:0fe9f7bde2f9 357 }
jamesmcildowietfl 8:0fe9f7bde2f9 358
jamesmcildowietfl 8:0fe9f7bde2f9 359 led_parkMode = 1;
jamesmcildowietfl 18:d28d458824d4 360 inParkMode = true; // Stop above debug print from displaying more than once
jamesmcildowietfl 18:d28d458824d4 361 motor1.setPark();
jamesmcildowietfl 8:0fe9f7bde2f9 362 }
jamesmcildowietfl 8:0fe9f7bde2f9 363
jamesmcildowietfl 8:0fe9f7bde2f9 364 ////Drive
jamesmcildowietfl 8:0fe9f7bde2f9 365 else { //else i.e if selected drive mode is forward or reverse
jamesmcildowietfl 8:0fe9f7bde2f9 366 ////////////////// Start of check for error G RTC clear
jamesmcildowietfl 8:0fe9f7bde2f9 367 if (emergencyStopActive == false && rtc_output.read() == 0) { // IF RTC FLAGGED AS SAFE
jamesmcildowietfl 8:0fe9f7bde2f9 368
jamesmcildowietfl 8:0fe9f7bde2f9 369 led_parkMode = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 370 inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 371
jamesmcildowietfl 8:0fe9f7bde2f9 372 if (driveMode != lastKnownDirection) {
jamesmcildowietfl 8:0fe9f7bde2f9 373 pc.printf("Train enabled for direction %d\r\n", driveMode);
jamesmcildowietfl 8:0fe9f7bde2f9 374
jamesmcildowietfl 8:0fe9f7bde2f9 375 lastKnownDirection = driveMode;
rwcjoliver 0:4788e1df7b55 376 }
rwcjoliver 0:4788e1df7b55 377
jamesmcildowietfl 8:0fe9f7bde2f9 378 ////Call autostop challenge
jamesmcildowietfl 8:0fe9f7bde2f9 379 if (challenge.autoStopInProgress == true) { // IF AUTOSTOPPING, PASS THROTTLE CONTROL TO FUNCTION
jamesmcildowietfl 8:0fe9f7bde2f9 380 challenge.autoStopControl();
jamesmcildowietfl 8:0fe9f7bde2f9 381 pc.printf("Autostop in Control\r\n");
rwcjoliver 0:4788e1df7b55 382 }
jamesmcildowietfl 8:0fe9f7bde2f9 383 //Use controls from remote
jamesmcildowietfl 8:0fe9f7bde2f9 384 else { // OTHERWISE INPUT THROTTLE FROM REMOTE
jamesmcildowietfl 8:0fe9f7bde2f9 385 if (remote.throttle > 0) { // If joystick pushed upwards = throttle
jamesmcildowietfl 8:0fe9f7bde2f9 386 /////////////////////////Innovation braking start
jamesmcildowietfl 8:0fe9f7bde2f9 387 if (challenge.innovationActive == true) {
jamesmcildowietfl 8:0fe9f7bde2f9 388 pc.printf("Collision Detection in Control\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 389 int innovationThrottle = challenge.innovationControl(remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 390 speedControl(innovationThrottle);
jamesmcildowietfl 8:0fe9f7bde2f9 391
jamesmcildowietfl 8:0fe9f7bde2f9 392 if (innovationThrottle == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 393 emergencyStop(); // emergency Brake if obstacle detected
jamesmcildowietfl 8:0fe9f7bde2f9 394 }
rwcjoliver 0:4788e1df7b55 395 }
jamesmcildowietfl 8:0fe9f7bde2f9 396 /////////////////////////Innovation braking end
jamesmcildowietfl 8:0fe9f7bde2f9 397 //normal throttle control
jamesmcildowietfl 8:0fe9f7bde2f9 398 else {
jamesmcildowietfl 8:0fe9f7bde2f9 399 speedControl(remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 400 pc.printf("Throttling: %d\r\n", remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 401 }
jamesmcildowietfl 8:0fe9f7bde2f9 402 } // remote.throttle
jamesmcildowietfl 8:0fe9f7bde2f9 403 ///if nothing set to 0
jamesmcildowietfl 8:0fe9f7bde2f9 404 else {
jamesmcildowietfl 18:d28d458824d4 405 speedControl(0);
jamesmcildowietfl 8:0fe9f7bde2f9 406 }
rwcjoliver 0:4788e1df7b55 407 }
rwcjoliver 0:4788e1df7b55 408
jamesmcildowietfl 8:0fe9f7bde2f9 409 }
jamesmcildowietfl 8:0fe9f7bde2f9 410 ////////////////// End of check for error G RTC clear
jamesmcildowietfl 8:0fe9f7bde2f9 411 else {
jamesmcildowietfl 8:0fe9f7bde2f9 412 pc.printf("Cannot exit park mode until RTC is cleared\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 413 inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 414 remote.sendError('G'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 415 }
jamesmcildowietfl 8:0fe9f7bde2f9 416 }
jamesmcildowietfl 8:0fe9f7bde2f9 417 //Datalogger Chai Funciton
jamesmcildowietfl 8:0fe9f7bde2f9 418 DisplaySerial();
jamesmcildowietfl 8:0fe9f7bde2f9 419 } // END IF (SYSTEMON == TRUE)
jamesmcildowietfl 8:0fe9f7bde2f9 420 //If train is switched on and in start do this end///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
rwcjoliver 0:4788e1df7b55 421
jamesmcildowietfl 19:a4afd3a6bdfb 422 wait_ms(25); // SLOW DOWN THE SYSTEM (REMOTE CANT KEEP UP)
jamesmcildowietfl 8:0fe9f7bde2f9 423 } // END WHILE(COMMSGOOD)
jamesmcildowietfl 8:0fe9f7bde2f9 424 pc.printf("Main Loop Skipped Due To Emergency Status\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 425 emergencyStop(); // Emergency stop if comms lost with remote controller
rwcjoliver 0:4788e1df7b55 426
rwcjoliver 0:4788e1df7b55 427
jamesmcildowietfl 8:0fe9f7bde2f9 428 } //END WHILE(1)
jamesmcildowietfl 8:0fe9f7bde2f9 429 }