Railway Challenge
/
challenge-ChaiUpdated-AutostopTest-30Throttle
This is a test from 30%Throttle to stop, using full service brake
main.cpp@33:8286cc0ebfaf, 23 months ago (annotated)
- Committer:
- jamesmcildowietfl
- Date:
- Mon Jun 20 09:55:35 2022 +0000
- Revision:
- 33:8286cc0ebfaf
- Parent:
- 32:771f6d99a77b
30% Throttle, terminal velocity, then grade level 2 brake, dont use EM
Who changed what in which revision?
User | Revision | Line number | New 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 | 33:8286cc0ebfaf | 84 | //motor1.throttle(0.4f); |
jamesmcildowietfl | 33:8286cc0ebfaf | 85 | motor1.throttle(0.3f); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 86 | break; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 87 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 88 | case 9 ... 10: |
jamesmcildowietfl | 33:8286cc0ebfaf | 89 | //motor1.throttle(0.5f); |
jamesmcildowietfl | 33:8286cc0ebfaf | 90 | motor1.throttle(0.3f); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 91 | break; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 92 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 93 | case 11: |
jamesmcildowietfl | 33:8286cc0ebfaf | 94 | //motor1.throttle(0.6f); |
jamesmcildowietfl | 33:8286cc0ebfaf | 95 | motor1.throttle(0.3f); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 96 | break; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 97 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 98 | case 12: |
jamesmcildowietfl | 33:8286cc0ebfaf | 99 | //motor1.throttle(0.7f); |
jamesmcildowietfl | 33:8286cc0ebfaf | 100 | motor1.throttle(0.3f); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 101 | break; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 102 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 103 | case 13: |
jamesmcildowietfl | 33:8286cc0ebfaf | 104 | //motor1.throttle(0.8f); |
jamesmcildowietfl | 33:8286cc0ebfaf | 105 | motor1.throttle(0.3f); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 106 | break; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 107 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 108 | case 14: |
jamesmcildowietfl | 33:8286cc0ebfaf | 109 | //motor1.throttle(0.9f); |
jamesmcildowietfl | 33:8286cc0ebfaf | 110 | motor1.throttle(0.3f); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 111 | break; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 112 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 113 | case 15: |
jamesmcildowietfl | 33:8286cc0ebfaf | 114 | //motor1.throttle(1.0f); |
jamesmcildowietfl | 33:8286cc0ebfaf | 115 | motor1.throttle(0.3f); |
jamesmcildowietfl | 33:8286cc0ebfaf | 116 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 117 | break; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 118 | } |
rwcjoliver | 0:4788e1df7b55 | 119 | } |
cdevarakonda | 32:771f6d99a77b | 120 | ///Energy Storage |
cdevarakonda | 32:771f6d99a77b | 121 | //energy storage display code |
cdevarakonda | 32:771f6d99a77b | 122 | void EnergyStorage() |
cdevarakonda | 32:771f6d99a77b | 123 | { |
cdevarakonda | 32:771f6d99a77b | 124 | float current_powercab=((2*vout_powercab)-vref_powercab)*250; //voltage change to current conversion |
cdevarakonda | 32:771f6d99a77b | 125 | float current_supercap=((2*vout_supercap)-vref_supercap)*250; |
cdevarakonda | 32:771f6d99a77b | 126 | int t=1; //1 second interval |
cdevarakonda | 32:771f6d99a77b | 127 | int C= 250; //Capacitance Value |
cdevarakonda | 32:771f6d99a77b | 128 | float energy_supercap = (1/2) * (current_supercap * current_supercap) * (t*t) / C; |
cdevarakonda | 32:771f6d99a77b | 129 | float energy_powercab = (1/2) * (current_powercab * current_powercab) * (t*t) / C; |
cdevarakonda | 32:771f6d99a77b | 130 | int scap = static_cast<int>(energy_supercap); |
cdevarakonda | 32:771f6d99a77b | 131 | int pcab = static_cast<int>(energy_powercab); |
cdevarakonda | 32:771f6d99a77b | 132 | remote.sendData(2,scap); |
cdevarakonda | 32:771f6d99a77b | 133 | remote.sendData(2,pcab); |
cdevarakonda | 32:771f6d99a77b | 134 | |
cdevarakonda | 32:771f6d99a77b | 135 | } |
cdevarakonda | 32:771f6d99a77b | 136 | |
rwcjoliver | 0:4788e1df7b55 | 137 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 138 | int main() { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 139 | pc.baud(115200); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 140 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 141 | // CONFIGURE INTERRUPTS |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 142 | rtc_output.rise(&emergencyStop); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 143 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 144 | millisStart(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 145 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 146 | rtc_Trigger = 1; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 147 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 148 | // LOCAL VARIABLES |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 149 | bool systemOn = false; // On/Off status of loco |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 150 | int lastKnownDirection = 2; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 151 | bool inParkMode = false; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 152 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 153 | // Record last time error was sent |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 154 | unsigned long lastErrorMillis = 0; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 155 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 156 | //MainLoop |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 157 | while (1) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 158 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 159 | while (remote.commsGood == true) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 160 | /////Start Up/////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 161 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 162 | /////Checking Modes from controller///////////////////////////////////////////////////////////////////////////////// |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 163 | // PING |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 164 | remote.commsCheck(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 165 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 166 | // GET SWITCH STATES |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 167 | remote.getSwitchStates(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 168 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 169 | // ALLOW BRAKES TO BE OPERATED |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 170 | brakeControl(remote.braking); |
cdevarakonda | 32:771f6d99a77b | 171 | |
cdevarakonda | 32:771f6d99a77b | 172 | //Energy Storage Display |
cdevarakonda | 32:771f6d99a77b | 173 | EnergyStorage(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 174 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 175 | // SOUND WHISTLE IF WHISTLE BUTTON PRESSED |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 176 | if (remote.whistle == 0) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 177 | whistleValve32 = 1; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 178 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 179 | else { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 180 | whistleValve32 = 0; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 181 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 182 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 183 | // GET AND DISPLAY SPEED |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 184 | dashboard.getCurrentSpeed(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 185 | remote.sendData(2, dashboard.currentSpeed); // Send speed to remote |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 186 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 187 | // TOGGLE COMPRESSOR |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 188 | remote.compressor == 0 ? contactCompressor = 1 : contactCompressor = 0; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 189 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 190 | // TOGGLE MOTOR CONTROLLER DEADMAN (SEAT SWITCH AND FOOTBRAKE) |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 191 | if (rtc.deadman == 0) { // IF DEADMAN PRESSED |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 192 | motor1.closeDeadman(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 193 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 194 | else { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 195 | motor1.releaseDeadman(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 196 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 197 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 198 | // TOGGLE REGEN THROTTLING |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 199 | if (challenge.regenThrottleActive == false) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 200 | if (remote.regenThrottle == 0 && remote.start == 0) { // TURN OFF IF ON |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 201 | challenge.regenThrottleOn(); |
rwcjoliver | 0:4788e1df7b55 | 202 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 203 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 204 | else { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 205 | remote.sendError('B'); // Send error to remote |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 206 | if (remote.regenThrottle == 1) { // TURN ON IF OFF |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 207 | challenge.regenThrottleOff(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 208 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 209 | } |
rwcjoliver | 0:4788e1df7b55 | 210 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 211 | // TOGGLE REGEN BRAKING |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 212 | if (challenge.regenBrakingActive == false) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 213 | if (remote.regenBrake == 0 && remote.start == 0) { // TURN OFF IF ON |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 214 | if (challenge.regenBrakingOn() == 0) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 215 | remote.sendError('I'); // Send error to remote |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 216 | pc.printf("Regen Braking Off - SuperCaps are full\r\n"); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 217 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 218 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 219 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 220 | else { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 221 | remote.sendError('C'); // Send error to remote |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 222 | if (remote.regenBrake == 1) { // TURN OFF |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 223 | challenge.regenBrakingOff(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 224 | if (superCapVoltage == 1) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 225 | pc.printf("Regen Braking Off - SuperCaps are full\r\n"); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 226 | remote.sendError('I'); // Send error to remote |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 227 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 228 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 229 | } |
rwcjoliver | 0:4788e1df7b55 | 230 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 231 | // TOGGLE AUTOSTOP |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 232 | if (challenge.autoStopActive == 0) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 233 | if (remote.autoStop == 0 && remote.start == 0) { // TURN OFF IF ON |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 234 | challenge.autoStopOn(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 235 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 236 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 237 | else { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 238 | remote.sendError('D'); // Send error to remote |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 239 | if (remote.autoStop == 1) { // TURN ON IF OFF |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 240 | challenge.autoStopOff(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 241 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 242 | } |
rwcjoliver | 0:4788e1df7b55 | 243 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 244 | // TOGGLE INNOVATION |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 245 | if (challenge.innovationActive == 0) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 246 | if (remote.innovation == 0 && remote.start == 0) { // TURN OFF IF ON |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 247 | if (driveMode == 0) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 248 | challenge.innovationOn(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 249 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 250 | else { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 251 | remote.sendError('J'); // Send error to remote |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 252 | pc.printf("Can only active innovation mode in forward direction\r\n"); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 253 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 254 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 255 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 256 | else { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 257 | remote.sendError('E'); // Send error to remote |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 258 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 259 | if (remote.innovation == 1) { // TURN ON IF OFF |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 260 | challenge.innovationOff(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 261 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 262 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 263 | /////END OF TOGGLE CHECKS////////////////////////////////////////////////////////////////////////////////////////////// |
rwcjoliver | 0:4788e1df7b55 | 264 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 265 | /////Control/////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 266 | //Is a Toggle check, but it is the train start swtich A |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 267 | if (systemOn == false) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 268 | if (remote.start == 1) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 269 | if (millis() - lastErrorMillis > 500) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 270 | remote.sendError('A'); // SEND ERROR MESSAGE 'A' TO REMOTE |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 271 | lastErrorMillis = millis(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 272 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 273 | motor1.turnOff(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 274 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 275 | else { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 276 | systemOn = true; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 277 | motor1.turnOn(); // Turn on motors |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 278 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 279 | } // END IF SYSTEMON = FALSE |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 280 | //If train is switched on and in start do this start/////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 281 | else { // IF SYSTEMON == TRUE |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 282 | if (remote.start == 1) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 283 | systemOn = false; // WILL STOP ABOVE HERE NEXT LOOP |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 284 | pc.printf("Start Switch is Off\r\n"); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 285 | } |
jamesmcildowietfl | 15:4976d145fbd9 | 286 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 287 | //Set foward |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 288 | if (driveMode != 0 && remote.forward == 0) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 289 | driveMode = 0; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 290 | motor1.setForward(); |
cdevarakonda | 32:771f6d99a77b | 291 | FrontLight=1; |
cdevarakonda | 32:771f6d99a77b | 292 | BackLight=0; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 293 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 294 | //Set reverse |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 295 | if (driveMode != 1 && remote.reverse == 0) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 296 | driveMode = 1; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 297 | motor1.setReverse(); |
cdevarakonda | 32:771f6d99a77b | 298 | BackLight=1; |
cdevarakonda | 32:771f6d99a77b | 299 | FrontLight=0; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 300 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 301 | //Set park |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 302 | if (driveMode != 2 && remote.park == 0) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 303 | driveMode = 2; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 304 | motor1.setPark(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 305 | motor1.throttle(0); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 306 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 307 | ////Park Mode |
cdevarakonda | 29:2ed4d9c309fc | 308 | if (driveMode == 2) { |
cdevarakonda | 30:c65bf90e8f47 | 309 | brakes.ParkMode(motor1); //place in park mode if selected by driver |
cdevarakonda | 32:771f6d99a77b | 310 | BackLight=0; |
cdevarakonda | 32:771f6d99a77b | 311 | FrontLight=0; |
jamesmcildowietfl | 18:d28d458824d4 | 312 | if (inParkMode == false) { |
jamesmcildowietfl | 18:d28d458824d4 | 313 | pc.printf("Train in park mode.\r\n"); //why? |
jamesmcildowietfl | 18:d28d458824d4 | 314 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 315 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 316 | if (emergencyStopActive == true && rtc_output.read() == 0) { // Clear emergency stop flag |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 317 | emergencyStopActive = false; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 318 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 319 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 320 | led_parkMode = 1; |
jamesmcildowietfl | 18:d28d458824d4 | 321 | inParkMode = true; // Stop above debug print from displaying more than once |
jamesmcildowietfl | 18:d28d458824d4 | 322 | motor1.setPark(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 323 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 324 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 325 | ////Drive |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 326 | else { //else i.e if selected drive mode is forward or reverse |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 327 | ////////////////// Start of check for error G RTC clear |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 328 | if (emergencyStopActive == false && rtc_output.read() == 0) { // IF RTC FLAGGED AS SAFE |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 329 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 330 | led_parkMode = 0; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 331 | inParkMode = false; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 332 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 333 | if (driveMode != lastKnownDirection) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 334 | pc.printf("Train enabled for direction %d\r\n", driveMode); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 335 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 336 | lastKnownDirection = driveMode; |
rwcjoliver | 0:4788e1df7b55 | 337 | } |
rwcjoliver | 0:4788e1df7b55 | 338 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 339 | ////Call autostop challenge |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 340 | if (challenge.autoStopInProgress == true) { // IF AUTOSTOPPING, PASS THROTTLE CONTROL TO FUNCTION |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 341 | challenge.autoStopControl(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 342 | pc.printf("Autostop in Control\r\n"); |
rwcjoliver | 0:4788e1df7b55 | 343 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 344 | //Use controls from remote |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 345 | else { // OTHERWISE INPUT THROTTLE FROM REMOTE |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 346 | if (remote.throttle > 0) { // If joystick pushed upwards = throttle |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 347 | /////////////////////////Innovation braking start |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 348 | if (challenge.innovationActive == true) { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 349 | pc.printf("Collision Detection in Control\r\n"); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 350 | int innovationThrottle = challenge.innovationControl(remote.throttle); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 351 | speedControl(innovationThrottle); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 352 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 353 | if (innovationThrottle == 0) { |
cdevarakonda | 30:c65bf90e8f47 | 354 | emergencyStop(); // emergency Brake if obstacle detected |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 355 | } |
rwcjoliver | 0:4788e1df7b55 | 356 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 357 | /////////////////////////Innovation braking end |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 358 | //normal throttle control |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 359 | else { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 360 | speedControl(remote.throttle); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 361 | pc.printf("Throttling: %d\r\n", remote.throttle); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 362 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 363 | } // remote.throttle |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 364 | ///if nothing set to 0 |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 365 | else { |
jamesmcildowietfl | 18:d28d458824d4 | 366 | speedControl(0); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 367 | } |
rwcjoliver | 0:4788e1df7b55 | 368 | } |
rwcjoliver | 0:4788e1df7b55 | 369 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 370 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 371 | ////////////////// End of check for error G RTC clear |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 372 | else { |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 373 | pc.printf("Cannot exit park mode until RTC is cleared\r\n"); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 374 | inParkMode = false; |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 375 | remote.sendError('G'); // Send error to remote |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 376 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 377 | } |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 378 | //Datalogger Chai Funciton |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 379 | DisplaySerial(); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 380 | } // END IF (SYSTEMON == TRUE) |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 381 | //If train is switched on and in start do this end/////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
rwcjoliver | 0:4788e1df7b55 | 382 | |
jamesmcildowietfl | 19:a4afd3a6bdfb | 383 | wait_ms(25); // SLOW DOWN THE SYSTEM (REMOTE CANT KEEP UP) |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 384 | } // END WHILE(COMMSGOOD) |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 385 | pc.printf("Main Loop Skipped Due To Emergency Status\r\n"); |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 386 | emergencyStop(); // Emergency stop if comms lost with remote controller |
rwcjoliver | 0:4788e1df7b55 | 387 | |
rwcjoliver | 0:4788e1df7b55 | 388 | |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 389 | } //END WHILE(1) |
jamesmcildowietfl | 8:0fe9f7bde2f9 | 390 | } |