Ashmeet Singh Rekhi
ese519
Diff: main.cpp
- Revision:
- 3:4f15d12f0ac0
- Parent:
- 2:27a9092dcc6c
- Child:
- 4:a5a7611a8d25
diff -r 27a9092dcc6c -r 4f15d12f0ac0 main.cpp
--- a/main.cpp Fri Oct 09 22:58:27 2015 +0000
+++ b/main.cpp Sat Oct 10 01:16:27 2015 +0000
@@ -2,7 +2,7 @@
#include "PwmOut.h"
unsigned int freqcnt=0;
-unsigned short floorsPassed = 0;
+unsigned short floorat = 0;
bool onFloor = false;
PwmOut servo1(p22);
PwmOut servo2(p23);
@@ -15,15 +15,28 @@
}
void timerfunc() { // what it does
- if (freqcnt > 10) {
+ if(freqcnt >10) {
onFloor = true;
-
- } else {
- if(onFloor)
- floorsPassed++;
+ //pc.printf("on floor\r\n");
+ }
+ else
onFloor = false;
- }
- freqcnt = 0;
+// if(DCenable.read() > 0.0f && freqcnt< 200) {
+// if (freqcnt>90 && freqcnt<110) { //fifth floor
+// floorat = 5;
+// } else if (freqcnt>60) { //fourth floor
+// floorat = 4;
+// } else if (freqcnt>40) { //third floor
+// floorat = 3;
+// } else if (freqcnt>20) { //second floor
+// floorat = 2;
+// } else if(freqcnt > 0) { //at first floor
+// floorat = 1;
+// }
+// pc.printf("floor: %d\r\n",floorat);
+// }
+// pc.printf("freqcnt: %d\r\n",freqcnt);
+// freqcnt = 0;
}
void open_door()
@@ -39,28 +52,47 @@
servo2 = 0.05f; //left
wait(1);
}
+
+short get_requested(float voltage){
+ if(voltage < 0.25f)
+ return 1;
+ else if (voltage < 0.45f)
+ return 2;
+ else if (voltage < 0.65f)
+ return 3;
+ else if (voltage < 0.85f)
+ return 4;
+ else
+ return 5;
+}
-short get_floor(int i) {
- int floorat=0;
- wait(0.099f);
- if (freqcnt>90) { //fifth floor
+short get_floor() {
+ DCenable = 0;
+ wait(2);
+ float avg=0;
+ short floorat=0;
+ freqcnt=0;
+ wait(0.1f);
+ avg+=freqcnt;
+ freqcnt=0;
+ wait(0.1f);
+ avg+=freqcnt;
+ freqcnt=0;
+ wait(0.1f);
+ avg+=freqcnt;
+ pc.printf("%f\r\n",avg);
+ if (avg>270 && avg < 300) { //fifth floor
floorat = 5;
- } else if (freqcnt>60) { //fourth floor
+ } else if (avg>180) { //fourth floor
floorat = 4;
- } else if (freqcnt>40) { //third floor
+ } else if (avg>120) { //third floor
floorat = 3;
- } else if (freqcnt>20) { //second floor
+ } else if (avg>60) { //second floor
floorat = 2;
- } else if(freqcnt > 0) { //at first floor
+ } else if(avg > 0) { //at first floor
floorat = 1;
}
- if(i>0) {
- int floor2 = get_floor(i-1);
- if (floor2 == floorat)
- return floorat;
- else
- return floor2;
- }
+
return floorat;
}
@@ -73,7 +105,7 @@
servo2.period(0.020f); //set 20ms period
DigitalOut motor1(p19);
DigitalOut motor2(p20);
- int floorat;
+ //int floorat;
DCenable.period(0.0002f);
@@ -90,106 +122,163 @@
motor2 = 0;
DCenable = 0.8f;
}
+ wait(0.5f);
+ DCenable = 0;
- pc.printf("at floor\r\n");
- floorat = get_floor(1);
+ pc.printf("at floor: %d\r\n",get_floor());
+ pc.printf("go to floor: %d\r\n",get_requested(request));
+ while(1) {
+ if(get_requested(request) > get_floor())
+ {
+ pc.printf("go up\r\n");
+ motor1 = 0;
+ motor2 = 1;
+ DCenable = 0.8f;
+ } else if(get_requested(request) < get_floor()) {
+ pc.printf("go down\r\n");
+ motor1 = 1;
+ motor2 = 0;
+ DCenable = 0.8f;
+ } else {
+ motor1=0;
+ motor2=0;
+ DCenable = 0;
+ }
- pc.printf("floor %d\r\n",floorat);
+ while(onFloor) {
+ wait(1);
+ pc.printf("at floor: %d\r\n",get_floor());
+ DCenable = 0.8f;
+ }
+ pc.printf("off current floor\r\n");
+
+ while(!onFloor) { //go to the first floor below us
+ DCenable = 0.8f;
+ }
+ wait(0.5f);
+ DCenable = 0;
- DCenable = 0;
+ wait(2);
+
+ pc.printf("at floor: %d\r\n",get_floor());
+ pc.printf("go to floor: %d\r\n",get_requested(request));
+
+ }
+
+ // floorat = get_floor();
+
+ //pc.printf("floor %d\r\n",floorat);
+
+
wait(5);
open_door();
close_door();
- while(1){
- pc.printf("%d floor\n\r",floorat);
- pc.printf("%f requested\n\r",request.read());
- if(request <= 0.2f) { //first floor
- pc.printf("go to the first floor\r\n");
- if(floorat > 1) { //if we're above the first floor
- //set DC motor to go down
- motor1 = 1;
- motor2 = 0;
- DCenable = 0.8f;
- } else if (floorat == 1) {
- DCenable = 0;
- open_door();
- wait(10);
- close_door();
- }
-
- } else if (request <= 0.4f) { // second floor
- pc.printf("go to the second floor\r\n");
- if (floorat > 2) {
- //set DC motor to go down
- motor1 = 1;
- motor2 = 0;
- DCenable = 0.8f;
- } else if (floorat < 2) {
- //set DC motor to go up
- motor1 = 0;
- motor2 = 1;
- DCenable = 0.8f;
- } else {
- DCenable = 0;
- open_door();
- wait(10);
- close_door();
- }
- } else if (request*5 <= 0.6f) { // third floor
- pc.printf("go to the third floor\r\n");
- if (floorat > 3) {
- //set DC motor to go down
- motor1 = 1;
- motor2 = 0;
- DCenable = 0.8f;
- } else if (floorat < 3) {
- //set DC motor to go up
- motor1 = 0;
- motor2 = 1;
- DCenable = 0.8f;
- } else {
- DCenable = 0;
- open_door();
- wait(10);
- close_door();
- }
- } else if (request <= 0.8f) { // fourth floor
- pc.printf("go to the fourth floor\r\n");
- if (floorat > 4) {
- //set DC motor to go down
- motor1 = 1;
- motor2 = 0;
- DCenable = 0.8f;
- } else if (floorat < 4) {
- //set DC motor to go up
- motor1 = 0;
- motor2 = 1;
- DCenable = 0.8f;
- } else {
- DCenable = 0;
- open_door();
- wait(10);
- close_door();
- }
- } else { //fifth floor
- pc.printf("go to the fifth floor\r\n");
- if (floorat < 5) {
- //set DC motor to go up
- motor1 = 0;
- motor2 = 1;
- DCenable = 0.8f;
- } else {
- DCenable = 0;
- open_door();
- wait(10);
- close_door();
- }
- } //end floor checks
- while(!onFloor) {} //wait til we get to the next floor
- floorat = get_floor(1);
- }
+// while(1){
+// pc.printf("%d floor\n\r",floorat);
+// pc.printf("%f requested\n\r",request.read());
+// if(request <= 0.25f) { //first floor
+// pc.printf("go to the first floor\r\n");
+// if(floorat > 1) { //if we're above the first floor
+// //set DC motor to go down
+// motor1 = 1;
+// motor2 = 0;
+// DCenable = 0.8f;
+//
+// } else if (floorat == 1) {
+// DCenable = 0;
+// open_door();
+// wait(10);
+// close_door();
+// }
+//
+// } else if (request <= 0.41f) { // second floor
+// pc.printf("go to the second floor\r\n");
+// if (floorat > 2) {
+// //set DC motor to go down
+// motor1 = 1;
+// motor2 = 0;
+// DCenable = 0.8f;
+//
+// } else if (floorat < 2) {
+// //set DC motor to go up
+// motor1 = 0;
+// motor2 = 1;
+// DCenable = 0.8f;
+//
+// } else {
+// DCenable = 0;
+// open_door();
+// wait(10);
+// close_door();
+// }
+// } else if (request <= 0.62f) { // third floor
+// pc.printf("go to the third floor\r\n");
+// if (floorat > 3) {
+// //set DC motor to go down
+// motor1 = 1;
+// motor2 = 0;
+// DCenable = 0.8f;
+//
+// } else if (floorat < 3) {
+// //set DC motor to go up
+// motor1 = 0;
+// motor2 = 1;
+// DCenable = 0.8f;
+// } else {
+// DCenable = 0;
+// open_door();
+// wait(10);
+// close_door();
+// }
+// } else if (request <= 0.85f) { // fourth floor
+// pc.printf("go to the fourth floor\r\n");
+// if (floorat > 4) {
+// //set DC motor to go down
+// motor1 = 1;
+// motor2 = 0;
+// DCenable = 0.8f;
+// } else if (floorat < 4) {
+// //set DC motor to go up
+// motor1 = 0;
+// motor2 = 1;
+// DCenable = 0.8f;
+//
+// } else {
+// DCenable = 0;
+// open_door();
+// wait(10);
+// close_door();
+// }
+// } else { //fifth floor
+// pc.printf("go to the fifth floor\r\n");
+// if (floorat < 5) {
+// //set DC motor to go up
+// motor1 = 0;
+// motor2 = 1;
+// DCenable = 0.8f;
+// } else {
+// DCenable = 0;
+// open_door();
+// wait(10);
+// close_door();
+// }
+// } //end floor checks
+//
+// wait(1);
+// if(freqcnt > 120){
+// DCenable = 0;
+// wait(2);
+// }
+ //while(1) {
+// //DCenable = 0;
+// wait(5);
+// pc.printf("floor %d\r\n",floorat);
+// } //wait til we get to the next floor
+
+
+ //}
Repository toolbox
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Repository details
| Type: | Program |
|---|---|
| Mbed OS support: | Mbed 2 deprecated |
| Created: | 01 Oct 2015 |
| Imports: | 7 |
| Forks: | 0 |
| Commits: | 9 |
| Dependents: | 0 |
| Dependencies: | 2 |
| Followers: | 3 |
