Railway Challenge / Mbed 2 deprecated challenge

Uncommenting of part that allow supercaps to charge up from the batteries

Dependencies:   mbed millis

main.cpp@30:a04afea230fb, 2022-06-15 (annotated)

Committer:
jamesmcildowietfl
Date:
Wed Jun 15 11:33:56 2022 +0000
Revision:
30:a04afea230fb
Parent:
29:8149eec6d6e7 
Forgot to add light pins to header, done now ;

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
cdevarakonda 28:ae88b18b5cb7 51 brakeValve32 = 0;//(PD_3)
cdevarakonda 28:ae88b18b5cb7 52 brakeValve22 = 0;//(PC_0)
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
rwcjoliver 0:4788e1df7b55 60 void brakeControl(int brakeRate) {
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;
cdevarakonda 28:ae88b18b5cb7 66 inParkMode=true;
jamesmcildowietfl 18:d28d458824d4 67 else {//REGEN BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 68 if (challenge.regenBrakingActive == true) { // REGEN BRAKING WITH OVERVOLTAGE SAFETY CHECK
jamesmcildowietfl 8:0fe9f7bde2f9 69 if (brakeRate > 0) {
cdevarakonda 26:37450381ffe9 70 motor1.setPark();
cdevarakonda 26:37450381ffe9 71 //motor1.brake(brakeRate);
jamesmcildowietfl 8:0fe9f7bde2f9 72 }
jamesmcildowietfl 8:0fe9f7bde2f9 73 else {
jamesmcildowietfl 8:0fe9f7bde2f9 74 motor1.setForward();
jamesmcildowietfl 8:0fe9f7bde2f9 75 }
rwcjoliver 0:4788e1df7b55 76 }
jamesmcildowietfl 8:0fe9f7bde2f9 77 else { // MECHANICAL BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 78 switch (brakeRate) {
jamesmcildowietfl 8:0fe9f7bde2f9 79 case 0: // NO BRAKING
cdevarakonda 28:ae88b18b5cb7 80 brakeValve32 = 1;//(PD_3)
cdevarakonda 28:ae88b18b5cb7 81 brakeValve22 = 1;//(PC_0)
jamesmcildowietfl 8:0fe9f7bde2f9 82 break;
jamesmcildowietfl 8:0fe9f7bde2f9 83
jamesmcildowietfl 8:0fe9f7bde2f9 84 case 1: //HALF BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 85 motor1.throttle(0.0f);
cdevarakonda 28:ae88b18b5cb7 86 brakeValve32 = 0;//(PD_3)
cdevarakonda 28:ae88b18b5cb7 87 brakeValve22 = 1;//(PC_0)
jamesmcildowietfl 8:0fe9f7bde2f9 88 break;
jamesmcildowietfl 2:d8d92dfc9c82 89
jamesmcildowietfl 8:0fe9f7bde2f9 90 case 2 ... 4 : //FULL BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 91 motor1.throttle(0.0f);
cdevarakonda 28:ae88b18b5cb7 92 brakeValve32 = 0;//(PD_3)
cdevarakonda 28:ae88b18b5cb7 93 brakeValve22 = 0;//(PC_0)
jamesmcildowietfl 8:0fe9f7bde2f9 94 break;
jamesmcildowietfl 8:0fe9f7bde2f9 95
jamesmcildowietfl 8:0fe9f7bde2f9 96 default: // NO BRAKING
cdevarakonda 28:ae88b18b5cb7 97 brakeValve32 = 1;//(PD_3)
cdevarakonda 28:ae88b18b5cb7 98 brakeValve22 = 1;//(PC_0)
jamesmcildowietfl 8:0fe9f7bde2f9 99 break;
jamesmcildowietfl 8:0fe9f7bde2f9 100 }
jamesmcildowietfl 8:0fe9f7bde2f9 101 }
jamesmcildowietfl 18:d28d458824d4 102 }
jamesmcildowietfl 8:0fe9f7bde2f9 103 return;
rwcjoliver 0:4788e1df7b55 104 }
rwcjoliver 0:4788e1df7b55 105
jamesmcildowietfl 8:0fe9f7bde2f9 106 //Motor code
rwcjoliver 0:4788e1df7b55 107 void speedControl(int commandedSpeed) {
jamesmcildowietfl 8:0fe9f7bde2f9 108 switch (commandedSpeed) {
jamesmcildowietfl 8:0fe9f7bde2f9 109
jamesmcildowietfl 8:0fe9f7bde2f9 110 default:
jamesmcildowietfl 8:0fe9f7bde2f9 111 break;
jamesmcildowietfl 8:0fe9f7bde2f9 112
jamesmcildowietfl 8:0fe9f7bde2f9 113 case 0:
jamesmcildowietfl 8:0fe9f7bde2f9 114 motor1.throttle(0.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 115 break;
jamesmcildowietfl 8:0fe9f7bde2f9 116
jamesmcildowietfl 8:0fe9f7bde2f9 117 case 1 ... 2:
jamesmcildowietfl 8:0fe9f7bde2f9 118 motor1.throttle(0.1f);
jamesmcildowietfl 8:0fe9f7bde2f9 119 break;
jamesmcildowietfl 8:0fe9f7bde2f9 120
jamesmcildowietfl 8:0fe9f7bde2f9 121 case 3 ... 4:
jamesmcildowietfl 8:0fe9f7bde2f9 122 motor1.throttle(0.2f);
jamesmcildowietfl 8:0fe9f7bde2f9 123 break;
jamesmcildowietfl 8:0fe9f7bde2f9 124
jamesmcildowietfl 8:0fe9f7bde2f9 125 case 5 ... 6:
jamesmcildowietfl 8:0fe9f7bde2f9 126 motor1.throttle(0.3f);
jamesmcildowietfl 8:0fe9f7bde2f9 127 break;
jamesmcildowietfl 8:0fe9f7bde2f9 128
jamesmcildowietfl 8:0fe9f7bde2f9 129 case 7 ... 8:
jamesmcildowietfl 8:0fe9f7bde2f9 130 motor1.throttle(0.4f);
jamesmcildowietfl 8:0fe9f7bde2f9 131 break;
jamesmcildowietfl 8:0fe9f7bde2f9 132
jamesmcildowietfl 8:0fe9f7bde2f9 133 case 9 ... 10:
jamesmcildowietfl 8:0fe9f7bde2f9 134 motor1.throttle(0.5f);
jamesmcildowietfl 8:0fe9f7bde2f9 135 break;
jamesmcildowietfl 8:0fe9f7bde2f9 136
jamesmcildowietfl 8:0fe9f7bde2f9 137 case 11:
jamesmcildowietfl 8:0fe9f7bde2f9 138 motor1.throttle(0.6f);
jamesmcildowietfl 8:0fe9f7bde2f9 139 break;
jamesmcildowietfl 8:0fe9f7bde2f9 140
jamesmcildowietfl 8:0fe9f7bde2f9 141 case 12:
jamesmcildowietfl 8:0fe9f7bde2f9 142 motor1.throttle(0.7f);
jamesmcildowietfl 8:0fe9f7bde2f9 143 break;
jamesmcildowietfl 8:0fe9f7bde2f9 144
jamesmcildowietfl 8:0fe9f7bde2f9 145 case 13:
jamesmcildowietfl 8:0fe9f7bde2f9 146 motor1.throttle(0.8f);
jamesmcildowietfl 8:0fe9f7bde2f9 147 break;
jamesmcildowietfl 8:0fe9f7bde2f9 148
jamesmcildowietfl 8:0fe9f7bde2f9 149 case 14:
jamesmcildowietfl 8:0fe9f7bde2f9 150 motor1.throttle(0.9f);
jamesmcildowietfl 8:0fe9f7bde2f9 151 break;
jamesmcildowietfl 8:0fe9f7bde2f9 152
jamesmcildowietfl 8:0fe9f7bde2f9 153 case 15:
jamesmcildowietfl 8:0fe9f7bde2f9 154 motor1.throttle(1.0f);
jamesmcildowietfl 8:0fe9f7bde2f9 155 break;
jamesmcildowietfl 8:0fe9f7bde2f9 156 }
rwcjoliver 0:4788e1df7b55 157 }
rwcjoliver 0:4788e1df7b55 158
jamesmcildowietfl 8:0fe9f7bde2f9 159 int main() {
jamesmcildowietfl 8:0fe9f7bde2f9 160 pc.baud(115200);
jamesmcildowietfl 8:0fe9f7bde2f9 161
jamesmcildowietfl 8:0fe9f7bde2f9 162 // CONFIGURE INTERRUPTS
jamesmcildowietfl 8:0fe9f7bde2f9 163 rtc_output.rise(&emergencyStop);
jamesmcildowietfl 8:0fe9f7bde2f9 164
jamesmcildowietfl 8:0fe9f7bde2f9 165 millisStart();
jamesmcildowietfl 8:0fe9f7bde2f9 166
jamesmcildowietfl 8:0fe9f7bde2f9 167 rtc_Trigger = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 168
jamesmcildowietfl 8:0fe9f7bde2f9 169 // LOCAL VARIABLES
jamesmcildowietfl 8:0fe9f7bde2f9 170 bool systemOn = false; // On/Off status of loco
jamesmcildowietfl 8:0fe9f7bde2f9 171 int lastKnownDirection = 2;
jamesmcildowietfl 8:0fe9f7bde2f9 172 bool inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 173
jamesmcildowietfl 8:0fe9f7bde2f9 174 // Record last time error was sent
jamesmcildowietfl 8:0fe9f7bde2f9 175 unsigned long lastErrorMillis = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 176
jamesmcildowietfl 8:0fe9f7bde2f9 177 //MainLoop
jamesmcildowietfl 8:0fe9f7bde2f9 178 while (1) {
jamesmcildowietfl 8:0fe9f7bde2f9 179
jamesmcildowietfl 8:0fe9f7bde2f9 180 while (remote.commsGood == true) {
jamesmcildowietfl 8:0fe9f7bde2f9 181 /////Start Up///////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 182
jamesmcildowietfl 8:0fe9f7bde2f9 183 /////Checking Modes from controller/////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 184 // PING
jamesmcildowietfl 8:0fe9f7bde2f9 185 remote.commsCheck();
jamesmcildowietfl 8:0fe9f7bde2f9 186
jamesmcildowietfl 8:0fe9f7bde2f9 187 // GET SWITCH STATES
jamesmcildowietfl 8:0fe9f7bde2f9 188 remote.getSwitchStates();
jamesmcildowietfl 8:0fe9f7bde2f9 189
jamesmcildowietfl 8:0fe9f7bde2f9 190 // ALLOW BRAKES TO BE OPERATED
jamesmcildowietfl 8:0fe9f7bde2f9 191 brakeControl(remote.braking);
jamesmcildowietfl 8:0fe9f7bde2f9 192
jamesmcildowietfl 8:0fe9f7bde2f9 193 // SOUND WHISTLE IF WHISTLE BUTTON PRESSED
jamesmcildowietfl 8:0fe9f7bde2f9 194 if (remote.whistle == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 195 whistleValve32 = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 196 }
jamesmcildowietfl 8:0fe9f7bde2f9 197 else {
jamesmcildowietfl 8:0fe9f7bde2f9 198 whistleValve32 = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 199 }
jamesmcildowietfl 8:0fe9f7bde2f9 200
jamesmcildowietfl 8:0fe9f7bde2f9 201 // GET AND DISPLAY SPEED
jamesmcildowietfl 8:0fe9f7bde2f9 202 dashboard.getCurrentSpeed();
jamesmcildowietfl 8:0fe9f7bde2f9 203 remote.sendData(2, dashboard.currentSpeed); // Send speed to remote
jamesmcildowietfl 8:0fe9f7bde2f9 204
jamesmcildowietfl 8:0fe9f7bde2f9 205 // TOGGLE COMPRESSOR
jamesmcildowietfl 8:0fe9f7bde2f9 206 remote.compressor == 0 ? contactCompressor = 1 : contactCompressor = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 207
jamesmcildowietfl 8:0fe9f7bde2f9 208 // TOGGLE MOTOR CONTROLLER DEADMAN (SEAT SWITCH AND FOOTBRAKE)
jamesmcildowietfl 8:0fe9f7bde2f9 209 if (rtc.deadman == 0) { // IF DEADMAN PRESSED
jamesmcildowietfl 8:0fe9f7bde2f9 210 motor1.closeDeadman();
jamesmcildowietfl 8:0fe9f7bde2f9 211 }
jamesmcildowietfl 8:0fe9f7bde2f9 212 else {
jamesmcildowietfl 8:0fe9f7bde2f9 213 motor1.releaseDeadman();
jamesmcildowietfl 8:0fe9f7bde2f9 214 }
jamesmcildowietfl 8:0fe9f7bde2f9 215
jamesmcildowietfl 8:0fe9f7bde2f9 216 // TOGGLE REGEN THROTTLING
jamesmcildowietfl 8:0fe9f7bde2f9 217 if (challenge.regenThrottleActive == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 218 if (remote.regenThrottle == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 219 challenge.regenThrottleOn();
rwcjoliver 0:4788e1df7b55 220 }
jamesmcildowietfl 8:0fe9f7bde2f9 221 }
jamesmcildowietfl 8:0fe9f7bde2f9 222 else {
jamesmcildowietfl 8:0fe9f7bde2f9 223 remote.sendError('B'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 224 if (remote.regenThrottle == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 225 challenge.regenThrottleOff();
jamesmcildowietfl 8:0fe9f7bde2f9 226 }
jamesmcildowietfl 8:0fe9f7bde2f9 227 }
rwcjoliver 0:4788e1df7b55 228
jamesmcildowietfl 8:0fe9f7bde2f9 229 // TOGGLE REGEN BRAKING
jamesmcildowietfl 8:0fe9f7bde2f9 230 if (challenge.regenBrakingActive == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 231 if (remote.regenBrake == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 232 if (challenge.regenBrakingOn() == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 233 remote.sendError('I'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 234 pc.printf("Regen Braking Off - SuperCaps are full\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 235 }
jamesmcildowietfl 8:0fe9f7bde2f9 236 }
jamesmcildowietfl 8:0fe9f7bde2f9 237 }
jamesmcildowietfl 8:0fe9f7bde2f9 238 else {
jamesmcildowietfl 8:0fe9f7bde2f9 239 remote.sendError('C'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 240 if (remote.regenBrake == 1) { // TURN OFF
jamesmcildowietfl 8:0fe9f7bde2f9 241 challenge.regenBrakingOff();
jamesmcildowietfl 8:0fe9f7bde2f9 242 if (superCapVoltage == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 243 pc.printf("Regen Braking Off - SuperCaps are full\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 244 remote.sendError('I'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 245 }
jamesmcildowietfl 8:0fe9f7bde2f9 246 }
jamesmcildowietfl 8:0fe9f7bde2f9 247 }
rwcjoliver 0:4788e1df7b55 248
jamesmcildowietfl 8:0fe9f7bde2f9 249 // TOGGLE AUTOSTOP
jamesmcildowietfl 8:0fe9f7bde2f9 250 if (challenge.autoStopActive == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 251 if (remote.autoStop == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 252 challenge.autoStopOn();
jamesmcildowietfl 8:0fe9f7bde2f9 253 }
jamesmcildowietfl 8:0fe9f7bde2f9 254 }
jamesmcildowietfl 8:0fe9f7bde2f9 255 else {
jamesmcildowietfl 8:0fe9f7bde2f9 256 remote.sendError('D'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 257 if (remote.autoStop == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 258 challenge.autoStopOff();
jamesmcildowietfl 8:0fe9f7bde2f9 259 }
jamesmcildowietfl 8:0fe9f7bde2f9 260 }
rwcjoliver 0:4788e1df7b55 261
jamesmcildowietfl 8:0fe9f7bde2f9 262 // TOGGLE INNOVATION
jamesmcildowietfl 8:0fe9f7bde2f9 263 if (challenge.innovationActive == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 264 if (remote.innovation == 0 && remote.start == 0) { // TURN OFF IF ON
jamesmcildowietfl 8:0fe9f7bde2f9 265 if (driveMode == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 266 challenge.innovationOn();
jamesmcildowietfl 8:0fe9f7bde2f9 267 }
jamesmcildowietfl 8:0fe9f7bde2f9 268 else {
jamesmcildowietfl 8:0fe9f7bde2f9 269 remote.sendError('J'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 270 pc.printf("Can only active innovation mode in forward direction\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 271 }
jamesmcildowietfl 8:0fe9f7bde2f9 272 }
jamesmcildowietfl 8:0fe9f7bde2f9 273 }
jamesmcildowietfl 8:0fe9f7bde2f9 274 else {
jamesmcildowietfl 8:0fe9f7bde2f9 275 remote.sendError('E'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 276
jamesmcildowietfl 8:0fe9f7bde2f9 277 if (remote.innovation == 1) { // TURN ON IF OFF
jamesmcildowietfl 8:0fe9f7bde2f9 278 challenge.innovationOff();
jamesmcildowietfl 8:0fe9f7bde2f9 279 }
jamesmcildowietfl 8:0fe9f7bde2f9 280 }
jamesmcildowietfl 8:0fe9f7bde2f9 281 /////END OF TOGGLE CHECKS//////////////////////////////////////////////////////////////////////////////////////////////
rwcjoliver 0:4788e1df7b55 282
jamesmcildowietfl 8:0fe9f7bde2f9 283 /////Control///////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 284 //Is a Toggle check, but it is the train start swtich A
jamesmcildowietfl 8:0fe9f7bde2f9 285 if (systemOn == false) {
jamesmcildowietfl 8:0fe9f7bde2f9 286 if (remote.start == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 287 if (millis() - lastErrorMillis > 500) {
jamesmcildowietfl 8:0fe9f7bde2f9 288 remote.sendError('A'); // SEND ERROR MESSAGE 'A' TO REMOTE
jamesmcildowietfl 8:0fe9f7bde2f9 289 lastErrorMillis = millis();
jamesmcildowietfl 8:0fe9f7bde2f9 290 }
jamesmcildowietfl 8:0fe9f7bde2f9 291 motor1.turnOff();
jamesmcildowietfl 8:0fe9f7bde2f9 292 }
jamesmcildowietfl 8:0fe9f7bde2f9 293 else {
jamesmcildowietfl 8:0fe9f7bde2f9 294 systemOn = true;
jamesmcildowietfl 8:0fe9f7bde2f9 295 motor1.turnOn(); // Turn on motors
jamesmcildowietfl 8:0fe9f7bde2f9 296 }
jamesmcildowietfl 8:0fe9f7bde2f9 297 } // END IF SYSTEMON = FALSE
jamesmcildowietfl 8:0fe9f7bde2f9 298 //If train is switched on and in start do this start///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
jamesmcildowietfl 8:0fe9f7bde2f9 299 else { // IF SYSTEMON == TRUE
jamesmcildowietfl 8:0fe9f7bde2f9 300 if (remote.start == 1) {
jamesmcildowietfl 8:0fe9f7bde2f9 301 systemOn = false; // WILL STOP ABOVE HERE NEXT LOOP
jamesmcildowietfl 8:0fe9f7bde2f9 302 pc.printf("Start Switch is Off\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 303 }
jamesmcildowietfl 15:4976d145fbd9 304
jamesmcildowietfl 8:0fe9f7bde2f9 305 //Set foward
jamesmcildowietfl 8:0fe9f7bde2f9 306 if (driveMode != 0 && remote.forward == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 307 driveMode = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 308 motor1.setForward();
jamesmcildowietfl 29:8149eec6d6e7 309
jamesmcildowietfl 29:8149eec6d6e7 310 FrontLight = 1;
jamesmcildowietfl 29:8149eec6d6e7 311 BackLight = 0;
jamesmcildowietfl 29:8149eec6d6e7 312 BeaconLight = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 313 }
jamesmcildowietfl 8:0fe9f7bde2f9 314 //Set reverse
jamesmcildowietfl 8:0fe9f7bde2f9 315 if (driveMode != 1 && remote.reverse == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 316 driveMode = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 317 motor1.setReverse();
jamesmcildowietfl 29:8149eec6d6e7 318
jamesmcildowietfl 29:8149eec6d6e7 319 FrontLight = 0;
jamesmcildowietfl 29:8149eec6d6e7 320 BackLight = 1;
jamesmcildowietfl 29:8149eec6d6e7 321 BeaconLight = 1;
jamesmcildowietfl 8:0fe9f7bde2f9 322 }
jamesmcildowietfl 8:0fe9f7bde2f9 323 //Set park
jamesmcildowietfl 8:0fe9f7bde2f9 324 if (driveMode != 2 && remote.park == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 325 driveMode = 2;
jamesmcildowietfl 8:0fe9f7bde2f9 326 motor1.setPark();
jamesmcildowietfl 8:0fe9f7bde2f9 327 motor1.throttle(0);
jamesmcildowietfl 29:8149eec6d6e7 328
jamesmcildowietfl 29:8149eec6d6e7 329 FrontLight = 0;
jamesmcildowietfl 29:8149eec6d6e7 330 BackLight = 0;
jamesmcildowietfl 29:8149eec6d6e7 331 BeaconLight = 1;
jamesmcildowietfl 29:8149eec6d6e7 332
jamesmcildowietfl 8:0fe9f7bde2f9 333 }
jamesmcildowietfl 8:0fe9f7bde2f9 334 ////Park Mode
cdevarakonda 28:ae88b18b5cb7 335 if (driveMode == 2) {
cdevarakonda 28:ae88b18b5cb7 336 brakeControl(4); //place in park mode if selected by driver, redundancy check
jamesmcildowietfl 18:d28d458824d4 337 if (inParkMode == false) {
cdevarakonda 28:ae88b18b5cb7 338 //pc.printf("Train in park mode.\r\n"); //why?
jamesmcildowietfl 18:d28d458824d4 339 }
jamesmcildowietfl 8:0fe9f7bde2f9 340
jamesmcildowietfl 8:0fe9f7bde2f9 341 if (emergencyStopActive == true && rtc_output.read() == 0) { // Clear emergency stop flag
jamesmcildowietfl 8:0fe9f7bde2f9 342 emergencyStopActive = false;
jamesmcildowietfl 8:0fe9f7bde2f9 343 }
jamesmcildowietfl 8:0fe9f7bde2f9 344
jamesmcildowietfl 8:0fe9f7bde2f9 345 led_parkMode = 1;
jamesmcildowietfl 18:d28d458824d4 346 inParkMode = true; // Stop above debug print from displaying more than once
jamesmcildowietfl 18:d28d458824d4 347 motor1.setPark();
jamesmcildowietfl 8:0fe9f7bde2f9 348 }
jamesmcildowietfl 8:0fe9f7bde2f9 349
jamesmcildowietfl 8:0fe9f7bde2f9 350 ////Drive
jamesmcildowietfl 8:0fe9f7bde2f9 351 else { //else i.e if selected drive mode is forward or reverse
jamesmcildowietfl 8:0fe9f7bde2f9 352 ////////////////// Start of check for error G RTC clear
jamesmcildowietfl 8:0fe9f7bde2f9 353 if (emergencyStopActive == false && rtc_output.read() == 0) { // IF RTC FLAGGED AS SAFE
jamesmcildowietfl 8:0fe9f7bde2f9 354
jamesmcildowietfl 8:0fe9f7bde2f9 355 led_parkMode = 0;
jamesmcildowietfl 8:0fe9f7bde2f9 356 inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 357
jamesmcildowietfl 8:0fe9f7bde2f9 358 if (driveMode != lastKnownDirection) {
jamesmcildowietfl 8:0fe9f7bde2f9 359 pc.printf("Train enabled for direction %d\r\n", driveMode);
jamesmcildowietfl 8:0fe9f7bde2f9 360
jamesmcildowietfl 8:0fe9f7bde2f9 361 lastKnownDirection = driveMode;
rwcjoliver 0:4788e1df7b55 362 }
rwcjoliver 0:4788e1df7b55 363
jamesmcildowietfl 8:0fe9f7bde2f9 364 ////Call autostop challenge
jamesmcildowietfl 8:0fe9f7bde2f9 365 if (challenge.autoStopInProgress == true) { // IF AUTOSTOPPING, PASS THROTTLE CONTROL TO FUNCTION
jamesmcildowietfl 8:0fe9f7bde2f9 366 challenge.autoStopControl();
jamesmcildowietfl 8:0fe9f7bde2f9 367 pc.printf("Autostop in Control\r\n");
rwcjoliver 0:4788e1df7b55 368 }
jamesmcildowietfl 8:0fe9f7bde2f9 369 //Use controls from remote
jamesmcildowietfl 8:0fe9f7bde2f9 370 else { // OTHERWISE INPUT THROTTLE FROM REMOTE
jamesmcildowietfl 8:0fe9f7bde2f9 371 if (remote.throttle > 0) { // If joystick pushed upwards = throttle
jamesmcildowietfl 8:0fe9f7bde2f9 372 /////////////////////////Innovation braking start
jamesmcildowietfl 8:0fe9f7bde2f9 373 if (challenge.innovationActive == true) {
jamesmcildowietfl 8:0fe9f7bde2f9 374 pc.printf("Collision Detection in Control\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 375 int innovationThrottle = challenge.innovationControl(remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 376 speedControl(innovationThrottle);
jamesmcildowietfl 8:0fe9f7bde2f9 377
jamesmcildowietfl 8:0fe9f7bde2f9 378 if (innovationThrottle == 0) {
jamesmcildowietfl 8:0fe9f7bde2f9 379 emergencyStop(); // emergency Brake if obstacle detected
jamesmcildowietfl 8:0fe9f7bde2f9 380 }
rwcjoliver 0:4788e1df7b55 381 }
jamesmcildowietfl 8:0fe9f7bde2f9 382 /////////////////////////Innovation braking end
jamesmcildowietfl 8:0fe9f7bde2f9 383 //normal throttle control
jamesmcildowietfl 8:0fe9f7bde2f9 384 else {
jamesmcildowietfl 8:0fe9f7bde2f9 385 speedControl(remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 386 pc.printf("Throttling: %d\r\n", remote.throttle);
jamesmcildowietfl 8:0fe9f7bde2f9 387 }
jamesmcildowietfl 8:0fe9f7bde2f9 388 } // remote.throttle
jamesmcildowietfl 8:0fe9f7bde2f9 389 ///if nothing set to 0
jamesmcildowietfl 8:0fe9f7bde2f9 390 else {
jamesmcildowietfl 18:d28d458824d4 391 speedControl(0);
jamesmcildowietfl 8:0fe9f7bde2f9 392 }
rwcjoliver 0:4788e1df7b55 393 }
rwcjoliver 0:4788e1df7b55 394
jamesmcildowietfl 8:0fe9f7bde2f9 395 }
jamesmcildowietfl 8:0fe9f7bde2f9 396 ////////////////// End of check for error G RTC clear
jamesmcildowietfl 8:0fe9f7bde2f9 397 else {
jamesmcildowietfl 8:0fe9f7bde2f9 398 pc.printf("Cannot exit park mode until RTC is cleared\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 399 inParkMode = false;
jamesmcildowietfl 8:0fe9f7bde2f9 400 remote.sendError('G'); // Send error to remote
jamesmcildowietfl 8:0fe9f7bde2f9 401 }
jamesmcildowietfl 8:0fe9f7bde2f9 402 }
jamesmcildowietfl 8:0fe9f7bde2f9 403 //Datalogger Chai Funciton
jamesmcildowietfl 8:0fe9f7bde2f9 404 DisplaySerial();
jamesmcildowietfl 8:0fe9f7bde2f9 405 } // END IF (SYSTEMON == TRUE)
jamesmcildowietfl 8:0fe9f7bde2f9 406 //If train is switched on and in start do this end///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
rwcjoliver 0:4788e1df7b55 407
jamesmcildowietfl 19:a4afd3a6bdfb 408 wait_ms(25); // SLOW DOWN THE SYSTEM (REMOTE CANT KEEP UP)
jamesmcildowietfl 8:0fe9f7bde2f9 409 } // END WHILE(COMMSGOOD)
jamesmcildowietfl 8:0fe9f7bde2f9 410 pc.printf("Main Loop Skipped Due To Emergency Status\r\n");
jamesmcildowietfl 8:0fe9f7bde2f9 411 emergencyStop(); // Emergency stop if comms lost with remote controller
rwcjoliver 0:4788e1df7b55 412
rwcjoliver 0:4788e1df7b55 413
jamesmcildowietfl 8:0fe9f7bde2f9 414 } //END WHILE(1)
jamesmcildowietfl 8:0fe9f7bde2f9 415 }