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@27:5f801d4ca461, 24 months ago (annotated)

Committer:
cdevarakonda
Date:
Mon Jun 13 11:06:32 2022 +0000
Revision:
27:5f801d4ca461
Parent:
26:6275acef6bfd
Child:
28:1086791972d0
Implemented new logic for regen braking using switch case to define braking values

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