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@30:c65bf90e8f47, 24 months ago (annotated)

Committer:
cdevarakonda
Date:
Wed Jun 15 15:27:54 2022 +0000
Revision:
30:c65bf90e8f47
Parent:
29:2ed4d9c309fc
Child:
31:54292fdb96b3
Code Cleaned up, brakes class implemented. More object orientated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rwcjoliver 0:4788e1df7b55 1 #include <mbed.h>
rwcjoliver 0:4788e1df7b55 2 #include "millis.h"
cdevarakonda 28:1086791972d0 3 #include "brakes.h"
rwcjoliver 0:4788e1df7b55 4 #include "definitions.h"
rwcjoliver 0:4788e1df7b55 5 #include "remoteControl.h"
rwcjoliver 0:4788e1df7b55 6 #include "dashboard.h"
rwcjoliver 0:4788e1df7b55 7 #include "rtc.h"
rwcjoliver 0:4788e1df7b55 8 #include "motor.h"
rwcjoliver 0:4788e1df7b55 9 #include "challenge.h"
jamesmcildowietfl 3:32e951e05a5b 10 #include <sstream>
jamesmcildowietfl 3:32e951e05a5b 11 using std::string;
rwcjoliver 0:4788e1df7b55 12
rwcjoliver 0:4788e1df7b55 13 // SET UP REMOTE CONTROL COMMS
rwcjoliver 0:4788e1df7b55 14 SPI remoteControl(PE_14, PE_13, PE_12); // (SPI_MOSI, SPI_MISO, SPI_SCK)
rwcjoliver 0:4788e1df7b55 15 DigitalOut remoteControlCS(PE_11); // (SPI_SS)
rwcjoliver 0:4788e1df7b55 16
rwcjoliver 0:4788e1df7b55 17 // CREATE OBJECTS
rwcjoliver 0:4788e1df7b55 18 Remote remote(remoteControl, remoteControlCS);
rwcjoliver 0:4788e1df7b55 19 Dashboard dashboard(hallSensor);
rwcjoliver 0:4788e1df7b55 20 RoundTrainCircuit rtc(rtc_1, rtc_2, rtc_3, rtc_4, rtc_5, rtc_6, rtc_7, rtc_override);
rwcjoliver 0:4788e1df7b55 21 Motor motor1(motorAccelerator, motorBrake, keySwitchM1, directionFwd, directionRev, footswitchM1, seatM1, inchFwdM1, speedLimit2M1, speedLimit3M1);
rwcjoliver 0:4788e1df7b55 22 ChallengeMode challenge(autoStopTrigger, dashboard, remote, motor1);
cdevarakonda 30:c65bf90e8f47 23 Brakes brakes;
rwcjoliver 0:4788e1df7b55 24
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 }
rwcjoliver 0:4788e1df7b55 37
jamesmcildowietfl 18:d28d458824d4 38 //Brake code
cdevarakonda 27:5f801d4ca461 39 void brakeControl(int brakeRate) { //set brake rate to float for regen
jamesmcildowietfl 18:d28d458824d4 40 if (driveMode == 2) { // PARK MODE
jamesmcildowietfl 8:0fe9f7bde2f9 41 // All Mechanical brakes applied
cdevarakonda 30:c65bf90e8f47 42 brakes.ParkMode(motor1);
jamesmcildowietfl 18:d28d458824d4 43 }
cdevarakonda 30:c65bf90e8f47 44 {//REGEN BRAKING
cdevarakonda 30:c65bf90e8f47 45
cdevarakonda 30:c65bf90e8f47 46 if (challenge.regenBrakingActive == true) { // REGEN BRAKING WITH OVERVOLTAGE SAFETY CHECK
cdevarakonda 30:c65bf90e8f47 47 brakes.RegenControl(brakeRate,motor1);
cdevarakonda 28:1086791972d0 48 }
cdevarakonda 27:5f801d4ca461 49
jamesmcildowietfl 8:0fe9f7bde2f9 50 else { // MECHANICAL BRAKING
cdevarakonda 30:c65bf90e8f47 51 brakes.MechanicalBraking(brakeRate,motor1); // calls mechanical braking
jamesmcildowietfl 8:0fe9f7bde2f9 52 }
jamesmcildowietfl 18:d28d458824d4 53 }
jamesmcildowietfl 8:0fe9f7bde2f9 54 return;
rwcjoliver 0:4788e1df7b55 55 }
cdevarakonda 30:c65bf90e8f47 56 void emergencyStop()
cdevarakonda 30:c65bf90e8f47 57 {
cdevarakonda 30:c65bf90e8f47 58 brakes.EmergencyStop(motor1,rtc,emergencyStopActive); //invokes emergency stop code from brakes class
cdevarakonda 30:c65bf90e8f47 59 }
jamesmcildowietfl 8:0fe9f7bde2f9 60 //Motor code
rwcjoliver 0:4788e1df7b55 61 void speedControl(int commandedSpeed) {
jamesmcildowietfl 8:0fe9f7bde2f9 62 switch (commandedSpeed) {
jamesmcildowietfl 8:0fe9f7bde2f9 63
jamesmcildowietfl 8:0fe9f7bde2f9 64 default:
jamesmcildowietfl 8:0fe9f7bde2f9 65 break;
jamesmcildowietfl 8:0fe9f7bde2f9 66
jamesmcildowietfl 8:0fe9f7bde2f9 67 case 0:
jamesmcildowietfl 8:0fe9f7bde2f9 68 motor1.throttle(0.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 69 break;
jamesmcildowietfl 8:0fe9f7bde2f9 70
jamesmcildowietfl 8:0fe9f7bde2f9 71 case 1 ... 2:
jamesmcildowietfl 8:0fe9f7bde2f9 72 motor1.throttle(0.1f);
jamesmcildowietfl 8:0fe9f7bde2f9 73 break;
jamesmcildowietfl 8:0fe9f7bde2f9 74
jamesmcildowietfl 8:0fe9f7bde2f9 75 case 3 ... 4:
jamesmcildowietfl 8:0fe9f7bde2f9 76 motor1.throttle(0.2f);
jamesmcildowietfl 8:0fe9f7bde2f9 77 break;
jamesmcildowietfl 8:0fe9f7bde2f9 78
jamesmcildowietfl 8:0fe9f7bde2f9 79 case 5 ... 6:
jamesmcildowietfl 8:0fe9f7bde2f9 80 motor1.throttle(0.3f);
jamesmcildowietfl 8:0fe9f7bde2f9 81 break;
jamesmcildowietfl 8:0fe9f7bde2f9 82
jamesmcildowietfl 8:0fe9f7bde2f9 83 case 7 ... 8:
jamesmcildowietfl 8:0fe9f7bde2f9 84 motor1.throttle(0.4f);
jamesmcildowietfl 8:0fe9f7bde2f9 85 break;
jamesmcildowietfl 8:0fe9f7bde2f9 86
jamesmcildowietfl 8:0fe9f7bde2f9 87 case 9 ... 10:
jamesmcildowietfl 8:0fe9f7bde2f9 88 motor1.throttle(0.5f);
jamesmcildowietfl 8:0fe9f7bde2f9 89 break;
jamesmcildowietfl 8:0fe9f7bde2f9 90
jamesmcildowietfl 8:0fe9f7bde2f9 91 case 11:
jamesmcildowietfl 8:0fe9f7bde2f9 92 motor1.throttle(0.6f);
jamesmcildowietfl 8:0fe9f7bde2f9 93 break;
jamesmcildowietfl 8:0fe9f7bde2f9 94
jamesmcildowietfl 8:0fe9f7bde2f9 95 case 12:
jamesmcildowietfl 8:0fe9f7bde2f9 96 motor1.throttle(0.7f);
jamesmcildowietfl 8:0fe9f7bde2f9 97 break;
jamesmcildowietfl 8:0fe9f7bde2f9 98
jamesmcildowietfl 8:0fe9f7bde2f9 99 case 13:
jamesmcildowietfl 8:0fe9f7bde2f9 100 motor1.throttle(0.8f);
jamesmcildowietfl 8:0fe9f7bde2f9 101 break;
jamesmcildowietfl 8:0fe9f7bde2f9 102
jamesmcildowietfl 8:0fe9f7bde2f9 103 case 14:
jamesmcildowietfl 8:0fe9f7bde2f9 104 motor1.throttle(0.9f);
jamesmcildowietfl 8:0fe9f7bde2f9 105 break;
jamesmcildowietfl 8:0fe9f7bde2f9 106
jamesmcildowietfl 8:0fe9f7bde2f9 107 case 15:
jamesmcildowietfl 8:0fe9f7bde2f9 108 motor1.throttle(1.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 109 break;
jamesmcildowietfl 8:0fe9f7bde2f9 110 }
rwcjoliver 0:4788e1df7b55 111 }
rwcjoliver 0:4788e1df7b55 112
jamesmcildowietfl 8:0fe9f7bde2f9 113 int main() {
jamesmcildowietfl 8:0fe9f7bde2f9 114 pc.baud(115200);
jamesmcildowietfl 8:0fe9f7bde2f9 115
jamesmcildowietfl 8:0fe9f7bde2f9 116 // CONFIGURE INTERRUPTS
jamesmcildowietfl 8:0fe9f7bde2f9 117 rtc_output.rise(&emergencyStop);
jamesmcildowietfl 8:0fe9f7bde2f9 118
jamesmcildowietfl 8:0fe9f7bde2f9 119 millisStart();
jamesmcildowietfl 8:0fe9f7bde2f9 120
jamesmcildowietfl 8:0fe9f7bde2f9 121 rtc_Trigger = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 122
jamesmcildowietfl 8:0fe9f7bde2f9 123 // LOCAL VARIABLES
jamesmcildowietfl 8:0fe9f7bde2f9 124 bool systemOn = false; // On/Off status of loco
jamesmcildowietfl 8:0fe9f7bde2f9 125 int lastKnownDirection = 2;
jamesmcildowietfl 8:0fe9f7bde2f9 126 bool inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 127
jamesmcildowietfl 8:0fe9f7bde2f9 128 // Record last time error was sent
jamesmcildowietfl 8:0fe9f7bde2f9 129 unsigned long lastErrorMillis = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 130
jamesmcildowietfl 8:0fe9f7bde2f9 131 //MainLoop
jamesmcildowietfl 8:0fe9f7bde2f9 132 while (1) {
jamesmcildowietfl 8:0fe9f7bde2f9 133
jamesmcildowietfl 8:0fe9f7bde2f9 134 while (remote.commsGood == true) {
jamesmcildowietfl 8:0fe9f7bde2f9 135 /////Start Up///////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 136
jamesmcildowietfl 8:0fe9f7bde2f9 137 /////Checking Modes from controller/////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 138 // PING
jamesmcildowietfl 8:0fe9f7bde2f9 139 remote.commsCheck();
jamesmcildowietfl 8:0fe9f7bde2f9 140
jamesmcildowietfl 8:0fe9f7bde2f9 141 // GET SWITCH STATES
jamesmcildowietfl 8:0fe9f7bde2f9 142 remote.getSwitchStates();
jamesmcildowietfl 8:0fe9f7bde2f9 143
jamesmcildowietfl 8:0fe9f7bde2f9 144 // ALLOW BRAKES TO BE OPERATED
jamesmcildowietfl 8:0fe9f7bde2f9 145 brakeControl(remote.braking);
jamesmcildowietfl 8:0fe9f7bde2f9 146
jamesmcildowietfl 8:0fe9f7bde2f9 147 // SOUND WHISTLE IF WHISTLE BUTTON PRESSED
jamesmcildowietfl 8:0fe9f7bde2f9 148 if (remote.whistle == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 149 whistleValve32 = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 150 }
jamesmcildowietfl 8:0fe9f7bde2f9 151 else {
jamesmcildowietfl 8:0fe9f7bde2f9 152 whistleValve32 = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 153 }
jamesmcildowietfl 8:0fe9f7bde2f9 154
jamesmcildowietfl 8:0fe9f7bde2f9 155 // GET AND DISPLAY SPEED
jamesmcildowietfl 8:0fe9f7bde2f9 156 dashboard.getCurrentSpeed();
jamesmcildowietfl 8:0fe9f7bde2f9 157 remote.sendData(2, dashboard.currentSpeed); // Send speed to remote
jamesmcildowietfl 8:0fe9f7bde2f9 158
jamesmcildowietfl 8:0fe9f7bde2f9 159 // TOGGLE COMPRESSOR
jamesmcildowietfl 8:0fe9f7bde2f9 160 remote.compressor == 0 ? contactCompressor = 1 : contactCompressor = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 161
jamesmcildowietfl 8:0fe9f7bde2f9 162 // TOGGLE MOTOR CONTROLLER DEADMAN (SEAT SWITCH AND FOOTBRAKE)
jamesmcildowietfl 8:0fe9f7bde2f9 163 if (rtc.deadman == 0) { // IF DEADMAN PRESSED
jamesmcildowietfl 8:0fe9f7bde2f9 164 motor1.closeDeadman();
jamesmcildowietfl 8:0fe9f7bde2f9 165 }
jamesmcildowietfl 8:0fe9f7bde2f9 166 else {
jamesmcildowietfl 8:0fe9f7bde2f9 167 motor1.releaseDeadman();
jamesmcildowietfl 8:0fe9f7bde2f9 168 }
jamesmcildowietfl 8:0fe9f7bde2f9 169
jamesmcildowietfl 8:0fe9f7bde2f9 170 // TOGGLE REGEN THROTTLING
jamesmcildowietfl 8:0fe9f7bde2f9 171 if (challenge.regenThrottleActive == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 172 if (remote.regenThrottle == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 173 challenge.regenThrottleOn();
rwcjoliver 0:4788e1df7b55 174 }
jamesmcildowietfl 8:0fe9f7bde2f9 175 }
jamesmcildowietfl 8:0fe9f7bde2f9 176 else {
jamesmcildowietfl 8:0fe9f7bde2f9 177 remote.sendError('B'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 178 if (remote.regenThrottle == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 179 challenge.regenThrottleOff();
jamesmcildowietfl 8:0fe9f7bde2f9 180 }
jamesmcildowietfl 8:0fe9f7bde2f9 181 }
rwcjoliver 0:4788e1df7b55 182
jamesmcildowietfl 8:0fe9f7bde2f9 183 // TOGGLE REGEN BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 184 if (challenge.regenBrakingActive == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 185 if (remote.regenBrake == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 186 if (challenge.regenBrakingOn() == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 187 remote.sendError('I'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 188 pc.printf("Regen Braking Off - SuperCaps are full\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 189 }
jamesmcildowietfl 8:0fe9f7bde2f9 190 }
jamesmcildowietfl 8:0fe9f7bde2f9 191 }
jamesmcildowietfl 8:0fe9f7bde2f9 192 else {
jamesmcildowietfl 8:0fe9f7bde2f9 193 remote.sendError('C'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 194 if (remote.regenBrake == 1) { // TURN OFF
jamesmcildowietfl 8:0fe9f7bde2f9 195 challenge.regenBrakingOff();
jamesmcildowietfl 8:0fe9f7bde2f9 196 if (superCapVoltage == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 197 pc.printf("Regen Braking Off - SuperCaps are full\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 198 remote.sendError('I'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 199 }
jamesmcildowietfl 8:0fe9f7bde2f9 200 }
jamesmcildowietfl 8:0fe9f7bde2f9 201 }
rwcjoliver 0:4788e1df7b55 202
jamesmcildowietfl 8:0fe9f7bde2f9 203 // TOGGLE AUTOSTOP
jamesmcildowietfl 8:0fe9f7bde2f9 204 if (challenge.autoStopActive == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 205 if (remote.autoStop == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 206 challenge.autoStopOn();
jamesmcildowietfl 8:0fe9f7bde2f9 207 }
jamesmcildowietfl 8:0fe9f7bde2f9 208 }
jamesmcildowietfl 8:0fe9f7bde2f9 209 else {
jamesmcildowietfl 8:0fe9f7bde2f9 210 remote.sendError('D'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 211 if (remote.autoStop == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 212 challenge.autoStopOff();
jamesmcildowietfl 8:0fe9f7bde2f9 213 }
jamesmcildowietfl 8:0fe9f7bde2f9 214 }
rwcjoliver 0:4788e1df7b55 215
jamesmcildowietfl 8:0fe9f7bde2f9 216 // TOGGLE INNOVATION
jamesmcildowietfl 8:0fe9f7bde2f9 217 if (challenge.innovationActive == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 218 if (remote.innovation == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 219 if (driveMode == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 220 challenge.innovationOn();
jamesmcildowietfl 8:0fe9f7bde2f9 221 }
jamesmcildowietfl 8:0fe9f7bde2f9 222 else {
jamesmcildowietfl 8:0fe9f7bde2f9 223 remote.sendError('J'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 224 pc.printf("Can only active innovation mode in forward direction\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 225 }
jamesmcildowietfl 8:0fe9f7bde2f9 226 }
jamesmcildowietfl 8:0fe9f7bde2f9 227 }
jamesmcildowietfl 8:0fe9f7bde2f9 228 else {
jamesmcildowietfl 8:0fe9f7bde2f9 229 remote.sendError('E'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 230
jamesmcildowietfl 8:0fe9f7bde2f9 231 if (remote.innovation == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 232 challenge.innovationOff();
jamesmcildowietfl 8:0fe9f7bde2f9 233 }
jamesmcildowietfl 8:0fe9f7bde2f9 234 }
jamesmcildowietfl 8:0fe9f7bde2f9 235 /////END OF TOGGLE CHECKS//////////////////////////////////////////////////////////////////////////////////////////////
rwcjoliver 0:4788e1df7b55 236
jamesmcildowietfl 8:0fe9f7bde2f9 237 /////Control///////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 238 //Is a Toggle check, but it is the train start swtich A
jamesmcildowietfl 8:0fe9f7bde2f9 239 if (systemOn == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 240 if (remote.start == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 241 if (millis() - lastErrorMillis > 500) {
jamesmcildowietfl 8:0fe9f7bde2f9 242 remote.sendError('A'); // SEND ERROR MESSAGE 'A' TO REMOTE
jamesmcildowietfl 8:0fe9f7bde2f9 243 lastErrorMillis = millis();
jamesmcildowietfl 8:0fe9f7bde2f9 244 }
jamesmcildowietfl 8:0fe9f7bde2f9 245 motor1.turnOff();
jamesmcildowietfl 8:0fe9f7bde2f9 246 }
jamesmcildowietfl 8:0fe9f7bde2f9 247 else {
jamesmcildowietfl 8:0fe9f7bde2f9 248 systemOn = true;
jamesmcildowietfl 8:0fe9f7bde2f9 249 motor1.turnOn(); // Turn on motors
jamesmcildowietfl 8:0fe9f7bde2f9 250 }
jamesmcildowietfl 8:0fe9f7bde2f9 251 } // END IF SYSTEMON = FALSE
jamesmcildowietfl 8:0fe9f7bde2f9 252 //If train is switched on and in start do this start///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 253 else { // IF SYSTEMON == TRUE
jamesmcildowietfl 8:0fe9f7bde2f9 254 if (remote.start == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 255 systemOn = false; // WILL STOP ABOVE HERE NEXT LOOP
jamesmcildowietfl 8:0fe9f7bde2f9 256 pc.printf("Start Switch is Off\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 257 }
jamesmcildowietfl 15:4976d145fbd9 258
jamesmcildowietfl 8:0fe9f7bde2f9 259 //Set foward
jamesmcildowietfl 8:0fe9f7bde2f9 260 if (driveMode != 0 && remote.forward == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 261 driveMode = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 262 motor1.setForward();
jamesmcildowietfl 8:0fe9f7bde2f9 263 }
jamesmcildowietfl 8:0fe9f7bde2f9 264 //Set reverse
jamesmcildowietfl 8:0fe9f7bde2f9 265 if (driveMode != 1 && remote.reverse == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 266 driveMode = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 267 motor1.setReverse();
jamesmcildowietfl 8:0fe9f7bde2f9 268 }
jamesmcildowietfl 8:0fe9f7bde2f9 269 //Set park
jamesmcildowietfl 8:0fe9f7bde2f9 270 if (driveMode != 2 && remote.park == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 271 driveMode = 2;
jamesmcildowietfl 8:0fe9f7bde2f9 272 motor1.setPark();
jamesmcildowietfl 8:0fe9f7bde2f9 273 motor1.throttle(0);
jamesmcildowietfl 8:0fe9f7bde2f9 274 }
jamesmcildowietfl 8:0fe9f7bde2f9 275 ////Park Mode
cdevarakonda 29:2ed4d9c309fc 276 if (driveMode == 2) {
cdevarakonda 30:c65bf90e8f47 277 brakes.ParkMode(motor1); //place in park mode if selected by driver
jamesmcildowietfl 18:d28d458824d4 278 if (inParkMode == false) {
jamesmcildowietfl 18:d28d458824d4 279 pc.printf("Train in park mode.\r\n"); //why?
jamesmcildowietfl 18:d28d458824d4 280 }
jamesmcildowietfl 8:0fe9f7bde2f9 281
jamesmcildowietfl 8:0fe9f7bde2f9 282 if (emergencyStopActive == true && rtc_output.read() == 0) { // Clear emergency stop flag
jamesmcildowietfl 8:0fe9f7bde2f9 283 emergencyStopActive = false;
jamesmcildowietfl 8:0fe9f7bde2f9 284 }
jamesmcildowietfl 8:0fe9f7bde2f9 285
jamesmcildowietfl 8:0fe9f7bde2f9 286 led_parkMode = 1;
jamesmcildowietfl 18:d28d458824d4 287 inParkMode = true; // Stop above debug print from displaying more than once
jamesmcildowietfl 18:d28d458824d4 288 motor1.setPark();
jamesmcildowietfl 8:0fe9f7bde2f9 289 }
jamesmcildowietfl 8:0fe9f7bde2f9 290
jamesmcildowietfl 8:0fe9f7bde2f9 291 ////Drive
jamesmcildowietfl 8:0fe9f7bde2f9 292 else { //else i.e if selected drive mode is forward or reverse
jamesmcildowietfl 8:0fe9f7bde2f9 293 ////////////////// Start of check for error G RTC clear
jamesmcildowietfl 8:0fe9f7bde2f9 294 if (emergencyStopActive == false && rtc_output.read() == 0) { // IF RTC FLAGGED AS SAFE
jamesmcildowietfl 8:0fe9f7bde2f9 295
jamesmcildowietfl 8:0fe9f7bde2f9 296 led_parkMode = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 297 inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 298
jamesmcildowietfl 8:0fe9f7bde2f9 299 if (driveMode != lastKnownDirection) {
jamesmcildowietfl 8:0fe9f7bde2f9 300 pc.printf("Train enabled for direction %d\r\n", driveMode);
jamesmcildowietfl 8:0fe9f7bde2f9 301
jamesmcildowietfl 8:0fe9f7bde2f9 302 lastKnownDirection = driveMode;
rwcjoliver 0:4788e1df7b55 303 }
rwcjoliver 0:4788e1df7b55 304
jamesmcildowietfl 8:0fe9f7bde2f9 305 ////Call autostop challenge
jamesmcildowietfl 8:0fe9f7bde2f9 306 if (challenge.autoStopInProgress == true) { // IF AUTOSTOPPING, PASS THROTTLE CONTROL TO FUNCTION
jamesmcildowietfl 8:0fe9f7bde2f9 307 challenge.autoStopControl();
jamesmcildowietfl 8:0fe9f7bde2f9 308 pc.printf("Autostop in Control\r\n");
rwcjoliver 0:4788e1df7b55 309 }
jamesmcildowietfl 8:0fe9f7bde2f9 310 //Use controls from remote
jamesmcildowietfl 8:0fe9f7bde2f9 311 else { // OTHERWISE INPUT THROTTLE FROM REMOTE
jamesmcildowietfl 8:0fe9f7bde2f9 312 if (remote.throttle > 0) { // If joystick pushed upwards = throttle
jamesmcildowietfl 8:0fe9f7bde2f9 313 /////////////////////////Innovation braking start
jamesmcildowietfl 8:0fe9f7bde2f9 314 if (challenge.innovationActive == true) {
jamesmcildowietfl 8:0fe9f7bde2f9 315 pc.printf("Collision Detection in Control\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 316 int innovationThrottle = challenge.innovationControl(remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 317 speedControl(innovationThrottle);
jamesmcildowietfl 8:0fe9f7bde2f9 318
jamesmcildowietfl 8:0fe9f7bde2f9 319 if (innovationThrottle == 0) {
cdevarakonda 30:c65bf90e8f47 320 emergencyStop(); // emergency Brake if obstacle detected
jamesmcildowietfl 8:0fe9f7bde2f9 321 }
rwcjoliver 0:4788e1df7b55 322 }
jamesmcildowietfl 8:0fe9f7bde2f9 323 /////////////////////////Innovation braking end
jamesmcildowietfl 8:0fe9f7bde2f9 324 //normal throttle control
jamesmcildowietfl 8:0fe9f7bde2f9 325 else {
jamesmcildowietfl 8:0fe9f7bde2f9 326 speedControl(remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 327 pc.printf("Throttling: %d\r\n", remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 328 }
jamesmcildowietfl 8:0fe9f7bde2f9 329 } // remote.throttle
jamesmcildowietfl 8:0fe9f7bde2f9 330 ///if nothing set to 0
jamesmcildowietfl 8:0fe9f7bde2f9 331 else {
jamesmcildowietfl 18:d28d458824d4 332 speedControl(0);
jamesmcildowietfl 8:0fe9f7bde2f9 333 }
rwcjoliver 0:4788e1df7b55 334 }
rwcjoliver 0:4788e1df7b55 335
jamesmcildowietfl 8:0fe9f7bde2f9 336 }
jamesmcildowietfl 8:0fe9f7bde2f9 337 ////////////////// End of check for error G RTC clear
jamesmcildowietfl 8:0fe9f7bde2f9 338 else {
jamesmcildowietfl 8:0fe9f7bde2f9 339 pc.printf("Cannot exit park mode until RTC is cleared\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 340 inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 341 remote.sendError('G'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 342 }
jamesmcildowietfl 8:0fe9f7bde2f9 343 }
jamesmcildowietfl 8:0fe9f7bde2f9 344 //Datalogger Chai Funciton
jamesmcildowietfl 8:0fe9f7bde2f9 345 DisplaySerial();
jamesmcildowietfl 8:0fe9f7bde2f9 346 } // END IF (SYSTEMON == TRUE)
jamesmcildowietfl 8:0fe9f7bde2f9 347 //If train is switched on and in start do this end///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
rwcjoliver 0:4788e1df7b55 348
jamesmcildowietfl 19:a4afd3a6bdfb 349 wait_ms(25); // SLOW DOWN THE SYSTEM (REMOTE CANT KEEP UP)
jamesmcildowietfl 8:0fe9f7bde2f9 350 } // END WHILE(COMMSGOOD)
jamesmcildowietfl 8:0fe9f7bde2f9 351 pc.printf("Main Loop Skipped Due To Emergency Status\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 352 emergencyStop(); // Emergency stop if comms lost with remote controller
rwcjoliver 0:4788e1df7b55 353
rwcjoliver 0:4788e1df7b55 354
jamesmcildowietfl 8:0fe9f7bde2f9 355 } //END WHILE(1)
jamesmcildowietfl 8:0fe9f7bde2f9 356 }