Diff: main.cpp
- Revision:
- 6:83b531eead03
- Parent:
- 5:c1952cbf8111
- Child:
- 7:8786833154ff
--- a/main.cpp Thu Jan 04 23:04:53 2018 +0000
+++ b/main.cpp Fri Jan 05 21:10:58 2018 +0000
@@ -20,7 +20,7 @@
#define POSCHODIE_BUTTON_3 0xc3 // |-----------|
#define POSCHODIE_BUTTON_4 0xc4 // └-----------┘
-#define VYTAH_DIODA_P 0x20 // ┌--------------------------┐
+#define VYTAH_DIODA_P 0x20 // ┌--------------------------┐
#define VYTAH_DIODA_1 0x21 // | DATA 0x00-> OFF 0x01->ON |
#define VYTAH_DIODA_2 0x22 // |--------------------------|
#define VYTAH_DIODA_3 0x23 // |--------------------------|
@@ -35,7 +35,7 @@
#define VYTAH 0xf0 // DATA 0x00-> UNLOCK 0x01-> LOCK
#define BRZDA 0xf // DATA 0x00-> DEACTIVATE 0x01-> ACTIVATE
-#define FLOOR_LIMIT_SWITCH_P 0xe0 // ┌------------------------------------------┐
+#define FLOOR_LIMIT_SWITCH_P 0xe0 // ┌------------------------------------------┐
#define FLOOR_LIMIT_SWITCH_1 0xe1 // | DATA 0x00-> LOW 0x01->WIDE 0x02-> NARROW |
#define FLOOR_LIMIT_SWITCH_2 0xe2 // |------------------------------------------|
#define FLOOR_LIMIT_SWITCH_3 0xe3 // |------------------------------------------|
@@ -76,63 +76,71 @@
char demo[]= {1,2,3,4,5,6};
char prijemSpravy[30];
-char diode_DATA[]={0x00,0x01};
-int diode_cislo[]={0,0,0,0,0};
+char diode_DATA[]= {0x00,0x01};
+int diode_cislo[]= {0,0,0,0,0};
int stav=5;
-int poradie[]={0,0,0,0,0};
+int poradie[]= {0,0,0,0,0};
int zar=0;
int por=0;
+//int kk=0;
int main()
{
pc.attach(&prijmemSpravu);
//dole();
-while(true)
-{
-
- rozhodni();
- /* for(int i=0;i<5;i++)
- if(diode_cislo[i]!=0)
- {
- if(i<stav){dole();break;}
- else {hore();break;}
+ while(true) {
+
+ //rozhodni();
+ /* for(int i=0;i<5;i++)
+ if(diode_cislo[i]!=0)
+ {
+ if(i<stav){dole();break;}
+ else {hore();break;}
+ }
+ */
+
+ while(true) {
+
+ if (por<5) {
+ pc.attach(&prijmemSpravu);
+ pohyb(poradie[por]);
+
+ por++;
+ } else {
+ por=0;
+ pohyb(poradie[por]);
+ }
}
- */
+
-
- /*stop();
- wait(1);
- hore();*/
-}
+
+ }
}
void zarad(int co)
{
- if (zar<5)
- {
- poradie[zar]=co;
- zar++;
- }
- else
- {
+ if (zar<5) {
+ poradie[zar]=co;
+ zar++;
+ } else {
poradie[0]=co;
zar=1;
}
}
-void pohyb( )
+void pohyb(int kam )
{
zamkni();
- if (stav < poradie[por]) hore();
- if (stav > poradie[por]) dole();
+ if (stav < kam) { pc.attach(&prijmemSpravu);hore();}
+ if (stav > kam) { pc.attach(&prijmemSpravu);dole();}
/*
switch(stav)
{
case 5: dole(); break;
- case 4:
+ case 4:
if(diode_cislo[4]==1)
break;
case 3: break;
@@ -166,208 +174,274 @@
void hore()
{
char DATA[]= {0x02,0x64,0x00,0x00,0x00};
- poslemSpravu(MOTOR,0xcc,sizeof(DATA),DATA);
+ poslemSpravu(MOTOR,0xcc,sizeof(DATA),DATA);
}
void dole()
{
char DATA[]= {0x02,0x9c,0xff,0xff,0xff};
poslemSpravu(MOTOR,0xcc,sizeof(DATA),DATA);
+ pc.attach(&prijmemSpravu);
}
void prijmemSpravu()
{
- //pc.attach(&prijmemSpravu);
- for (int j=0;j<4;j++)
- {
- while(true)
- {
- if(pc.readable()==1)
- {
- prijemSpravy[j]=pc.getc();
- break;
+ for (int j=0; j<4; j++) {
+ while(true) {
+ if(pc.readable()==1) {
+ prijemSpravy[j]=pc.getc();
+ break;
}
- }
+ }
+ }
+
+ int pom= prijemSpravy[3] + 1;
+
+ for (int j=0; j<pom; j++) {
+ while(true) {
+ if(pc.readable()==1) {
+ prijemSpravy[j+4]=pc.getc();
+ break;
+ }
+ }
}
- int pom= prijemSpravy[3] + 1;
+ rozhodni();
- for (int j=0;j<pom;j++)
- {
- while(true)
- {
- if(pc.readable()==1)
- {
- prijemSpravy[j+4]=pc.getc();
- break;
- }
- }
- }
- pc.attach(&prijmemSpravu);
+ pc.attach(&prijmemSpravu);
}
/*
void obsluz(int cislo)
{
poslemSpravu(VYTAH_DIODA_4,0xCC,0x01, &diode_DATA[1]);
- diode_cislo[4]=1;
+ diode_cislo[4]=1;
zamkni();
-
+
}
*/
void rozhodni()
{
- switch(prijemSpravy[2])
- {
+ switch(prijemSpravy[2]) {
+
case 0xb4: /* vytah tla4idlo 4 poschodie */
- if (diode_cislo[4]==0) { zarad(4);}
+ if (diode_cislo[4]==0) {
+ zarad(4);
+ }
poslemSpravu(VYTAH_DIODA_4,0xCC,0x01, &diode_DATA[1]);
- diode_cislo[4]=1;
-
+ diode_cislo[4]=1;
+
+ break;
+
+ case 0xb3: /* vytah tla4idlo 3 poschodie */
+
+ if (diode_cislo[3]==0) {
+ zarad(3);
+ }
+ poslemSpravu(VYTAH_DIODA_3,0xCC,0x01, &diode_DATA[1]);
+ diode_cislo[3]=1;
+
+ break;
+
+ case 0xb2: /* vytah tla4idlo 2 poschodie */
+
+ if (diode_cislo[2]==0) {
+ zarad(2);
+ }
+ poslemSpravu(VYTAH_DIODA_2,0xCC,0x01, &diode_DATA[1]);
+ diode_cislo[2]=1;
+
+ break;
+
+ case 0xb1: /* vytah tla4idlo 1 poschodie */
+
+ if (diode_cislo[1]==0) {
+ zarad(1);
+ }
+ poslemSpravu(VYTAH_DIODA_1,0xCC,0x01, &diode_DATA[1]);
+ diode_cislo[1]=1;
+
+ break;
+
+ case 0xb0: /* vytah tla4idlo pr9zemie */
+
+ if (diode_cislo[0]==0) {
+ zarad(0);
+ }
+ poslemSpravu(VYTAH_DIODA_P,0xCC,0x01, &diode_DATA[1]);
+ diode_cislo[0]=1;
+
+ break;
+
+ case 0xc4: /* chodba tla4idlo 4 poschodie */
+
+ if (diode_cislo[4]==0) {
+ zarad(4);
+ }
+ poslemSpravu(POSCHODIE_DIODA_4,0xCC,0x01, &diode_DATA[1]);
+ diode_cislo[4]=1;
+
+ break;
+
+ case 0xc3: /* chodba tla4idlo 3 poschodie */
+
+ if (diode_cislo[3]==0) {
+ zarad(3);
+ }
+ poslemSpravu(POSCHODIE_DIODA_3,0xCC,0x01, &diode_DATA[1]);
+ diode_cislo[3]=1;
+
+ break;
+
+ case 0xc2: /* chodba tla4idlo 2 poschodie */
+
+ if (diode_cislo[2]==0) {
+ zarad(2);
+ }
+ poslemSpravu(POSCHODIE_DIODA_2,0xCC,0x01, &diode_DATA[1]);
+ diode_cislo[2]=1;
+
+ break;
+
+ case 0xc1: /* chodba tla4idlo 1 poschodie */
+
+ if (diode_cislo[1]==0) {
+ zarad(1);
+ }
+ poslemSpravu(POSCHODIE_DIODA_1,0xCC,0x01, &diode_DATA[1]);
+ diode_cislo[1]=1;
+
+ break;
+
+ case 0xc0: /* chodba tla4idlo pr9zemie */
+
+ if (diode_cislo[0]==0) {
+ zarad(0);
+ }
+ poslemSpravu(POSCHODIE_DIODA_P,0xCC,0x01, &diode_DATA[1]);
+ diode_cislo[0]=1;
+
+ break;
+
+
+
+
+ case 0xe4: /* info pre odomknutie 4 poschodie */
+
+ if(poradie[por]==4) {
+
+ if(prijemSpravy[4]==0x01&&diode_cislo[4]==1) {
+ stop();
+ poslemSpravu(VYTAH_DIODA_4,0xCC,0x01, &diode_DATA[0]);
+ poslemSpravu(POSCHODIE_DIODA_4,0xCC,0x01, &diode_DATA[0]);
+ diode_cislo[4]=0;
+ stav=4;
+ }
+ if(prijemSpravy[4]==0x02&&stav==4) {
+ wait(1);
+ odomkni();
+ //por++;
+ }
+ }
+
+ break;
+
+ case 0xe3: /* info pre odomknutie 3 poschodie */
-
- break;
-
- case 0xb3: /* vytah tla4idlo 3 poschodie */
- poslemSpravu(VYTAH_DIODA_3,0xCC,0x01, &diode_DATA[1]);
- diode_cislo[3]=1;
- zamkni();
- if (stav <3) hore();
- if (stav >3) dole();
- break;
-
- case 0xb2: /* vytah tla4idlo 2 poschodie */
- poslemSpravu(VYTAH_DIODA_2,0xCC,0x01, &diode_DATA[1]);
- diode_cislo[2]=1;
- zamkni();
- if (stav <2) hore();
- if (stav >2) dole();
- break;
-
- case 0xb1: /* vytah tla4idlo 1 poschodie */
- poslemSpravu(VYTAH_DIODA_1,0xCC,0x01, &diode_DATA[1]);
- diode_cislo[1]=1;
- zamkni();
- if (stav <1) hore();
- if (stav >1) dole();
- break;
+ if(poradie[por]==3) {
+ // por++;
- case 0xb0: /* vytah tla4idlo pr9zemie */
- poslemSpravu(VYTAH_DIODA_P,0xCC,0x01, &diode_DATA[1]);
- diode_cislo[0]=1;
- zamkni();
- if (stav <0) hore();
- if (stav >0) dole();
- break;
-
- case 0xc4: /* chodba tla4idlo 4 poschodie */
- poslemSpravu(POSCHODIE_DIODA_4,0xCC,0x01, &diode_DATA[1]);
- diode_cislo[4]=1;
- zamkni();
- if (stav <4) hore();
- if (stav >4) dole();
- break;
-
- case 0xc3: /* chodba tla4idlo 3 poschodie */
- poslemSpravu(POSCHODIE_DIODA_3,0xCC,0x01, &diode_DATA[1]);
- diode_cislo[3]=1;
- zamkni();
- if (stav <3) hore();
- if (stav >3) dole();
- break;
-
- case 0xc2: /* chodba tla4idlo 2 poschodie */
- poslemSpravu(POSCHODIE_DIODA_2,0xCC,0x01, &diode_DATA[1]);
- diode_cislo[2]=1;
- zamkni();
- if (stav <2) hore();
- if (stav >2) dole();
- break;
-
- case 0xc1: /* chodba tla4idlo 1 poschodie */
- poslemSpravu(POSCHODIE_DIODA_1,0xCC,0x01, &diode_DATA[1]);
- diode_cislo[1]=1;
- zamkni();
- if (stav <1) hore();
- if (stav >2) dole();
- break;
+ if(prijemSpravy[4]==0x01&&diode_cislo[3]==1) {
+ stop();
+ poslemSpravu(VYTAH_DIODA_3,0xCC,0x01, &diode_DATA[0]);
+ poslemSpravu(POSCHODIE_DIODA_3,0xCC,0x01, &diode_DATA[0]);
+ diode_cislo[3]=0;
+ stav=3;
+ }
+ if(prijemSpravy[4]==0x02&&stav==3) {
+ wait(1);
+ odomkni();
+
+ }
+
+
+ }
+ break;
+
+ case 0xe2: /* info pre odomknutie 2 poschodie */
- case 0xc0: /* chodba tla4idlo pr9zemie */
- poslemSpravu(POSCHODIE_DIODA_P,0xCC,0x01, &diode_DATA[1]);
- diode_cislo[0]=1;
- zamkni();
- if (stav <0) hore();
- if (stav >0) dole();
- //hore();
- break;
-
-
-
-
- case 0xe4: /* info pre odomknutie 4 poschodie */
-
- if(poradie[zar]==4) {
-
- if(prijemSpravy[4]==0x01&&diode_cislo[4]==1){stop();
- poslemSpravu(VYTAH_DIODA_4,0xCC,0x01, &diode_DATA[0]);
- poslemSpravu(POSCHODIE_DIODA_4,0xCC,0x01, &diode_DATA[0]);
- diode_cislo[4]=0;
- stav=4;}
- if(prijemSpravy[4]==0x02&&stav==4){wait(1);odomkni();}
- }
-
- break;
-
- case 0xe3: /* info pre odomknutie 3 poschodie */
- if(prijemSpravy[4]==0x01&&diode_cislo[3]==1){stop();
- poslemSpravu(VYTAH_DIODA_3,0xCC,0x01, &diode_DATA[0]);
- poslemSpravu(POSCHODIE_DIODA_3,0xCC,0x01, &diode_DATA[0]);
- diode_cislo[3]=0;
- stav=3;}
- if(prijemSpravy[4]==0x02&&stav==3){wait(1);odomkni();}
- break;
+ if(poradie[por]==2) {
+
+ if(prijemSpravy[4]==0x01&&diode_cislo[2]==1) {
+ stop();
+ poslemSpravu(VYTAH_DIODA_2,0xCC,0x01, &diode_DATA[0]);
+ poslemSpravu(POSCHODIE_DIODA_2,0xCC,0x01, &diode_DATA[0]);
+ diode_cislo[2]=0;
+ stav=2;
+ }
+ if(prijemSpravy[4]==0x02&&stav==2) {
+ wait(1);
+ odomkni();
+ }
+
+ }
+
+ break;
+
+ case 0xe1: /* info pre odomknutie 1 poschodie */
+ if(poradie[por]==1) {
+
+ if(prijemSpravy[4]==0x01&&diode_cislo[1]==1) {
+ stop();
+ poslemSpravu(VYTAH_DIODA_1,0xCC,0x01, &diode_DATA[0]);
+ poslemSpravu(POSCHODIE_DIODA_1,0xCC,0x01, &diode_DATA[0]);
+ diode_cislo[1]=0;
+ stav=1;
+ }
+ if(prijemSpravy[4]==0x02&&stav==1) {
+ wait(1);
+ odomkni();
+ }
+
+ }
+
+ break;
+
+ case 0xe0: /* info pre odomknutie prízemie */
- case 0xe2: /* info pre odomknutie 2 poschodie */
- if(prijemSpravy[4]==0x01&&diode_cislo[2]==1){stop();
- poslemSpravu(VYTAH_DIODA_2,0xCC,0x01, &diode_DATA[0]);
- poslemSpravu(POSCHODIE_DIODA_2,0xCC,0x01, &diode_DATA[0]);
- diode_cislo[2]=0;
- stav=2;}
- if(prijemSpravy[4]==0x02&&stav==2){wait(1);odomkni();}
- break;
-
- case 0xe1: /* info pre odomknutie 1 poschodie */
- if(prijemSpravy[4]==0x01&&diode_cislo[1]==1){stop();
- poslemSpravu(VYTAH_DIODA_1,0xCC,0x01, &diode_DATA[0]);
- poslemSpravu(POSCHODIE_DIODA_1,0xCC,0x01, &diode_DATA[0]);
- diode_cislo[1]=0;
- stav=1;}
- if(prijemSpravy[4]==0x02&&stav==1){wait(1);odomkni();}
- break;
-
- case 0xe0: /* info pre odomknutie prízemie */
- if(prijemSpravy[4]==0x01&&diode_cislo[0]==1){stop();
- poslemSpravu(VYTAH_DIODA_P,0xCC,0x01, &diode_DATA[0]);
- poslemSpravu(POSCHODIE_DIODA_P,0xCC,0x01, &diode_DATA[0]);
- diode_cislo[0]=0;
- stav=0;}
- if(prijemSpravy[4]==0x02&&stav==0){wait(1);odomkni();}
- break;
-
-
-
-
-
+ if(poradie[por]==0) {
+
+ if(prijemSpravy[4]==0x01&&diode_cislo[0]==1) {
+ stop();
+ poslemSpravu(VYTAH_DIODA_P,0xCC,0x01, &diode_DATA[0]);
+ poslemSpravu(POSCHODIE_DIODA_P,0xCC,0x01, &diode_DATA[0]);
+ diode_cislo[0]=0;
+ stav=0;
+ }
+ if(prijemSpravy[4]==0x02&&stav==0) {
+ wait(1);
+ odomkni();
+ }
+
+ }
+
+ break;
+
+
+
+
+
case 0xf: /* zachranna brzda */
-
- break;
-
+
+ break;
+
case 0xfe: /* watchdog */
-
- break;
- default: break;
- }
+
+ break;
+ default:
+ break;
+ }
}
void poslemSpravu(char adrRX, char adrTX, int velkost, char DATA[] )
@@ -400,22 +474,18 @@
void kontrola()
{
- char kontrola[5]={0,0,0,0,0};
+ char kontrola[5]= {0,0,0,0,0};
- for(int i=0;i<5;i++)
- {
- while(true)
- {
- if(pc.readable()==1)
- {
- kontrola[i]=pc.getc();
- break;
- }
+ for(int i=0; i<5; i++) {
+ while(true) {
+ if(pc.readable()==1) {
+ kontrola[i]=pc.getc();
+ break;
}
}
-
- if(kontrola[0]!=0xA0&&kontrola[1]!=0x00&&kontrola[2]!=0x00&&kontrola[3]!=0x00&&kontrola[4]!=0x00)
- {
- // poslemSpravu();
- }
+ }
+
+ if(kontrola[0]!=0xA0&&kontrola[1]!=0x00&&kontrola[2]!=0x00&&kontrola[3]!=0x00&&kontrola[4]!=0x00) {
+ // poslemSpravu();
+ }
}
\ No newline at end of file
