Avinash Repaka / Mbed 2 deprecated Lab4_519

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Dependencies:   mbed

main.cpp@4:95fe80130442, 2015-03-27 (annotated)

Committer:
avinashr
Date:
Fri Mar 27 03:53:57 2015 +0000
Revision:
4:95fe80130442
Parent:
3:c3d716d6c6a7 
Elevator code, working on test bench

Who changed what in which revision?

UserRevisionLine numberNew contents of line
avinashr 0:27111a353928 1 #include "mbed.h"
avinashr 0:27111a353928 2 #include "DCMotor.h"
avinashr 1:4ec28912c9e7 3 #include "LeftServoMotor.h"
avinashr 1:4ec28912c9e7 4 #include "RightServoMotor.h"
avinashr 1:4ec28912c9e7 5 #include "Keypad.h"
avinashr 2:2cc70773996b 6 #include "GlobalObjects.h"
avinashr 2:2cc70773996b 7 #include "RequestQueue.h"
avinashr 1:4ec28912c9e7 8
avinashr 0:27111a353928 9 DigitalOut myled(LED1);
avinashr 4:95fe80130442 10 InterruptIn irInput(p14);
avinashr 4:95fe80130442 11 Timer irTimer;
avinashr 2:2cc70773996b 12
avinashr 3:c3d716d6c6a7 13 void moveForward (){
avinashr 3:c3d716d6c6a7 14 dcMotor.forward();
avinashr 3:c3d716d6c6a7 15 movingDirection = 1;
avinashr 4:95fe80130442 16 irFlag = 1;
avinashr 3:c3d716d6c6a7 17 }
avinashr 3:c3d716d6c6a7 18
avinashr 3:c3d716d6c6a7 19 void moveReverse(){
avinashr 3:c3d716d6c6a7 20 dcMotor.reverse();
avinashr 3:c3d716d6c6a7 21 movingDirection = -1;
avinashr 4:95fe80130442 22 irFlag = 1;
avinashr 3:c3d716d6c6a7 23 }
avinashr 3:c3d716d6c6a7 24
avinashr 2:2cc70773996b 25 void floorChosen (int i){
avinashr 4:95fe80130442 26 pc.printf(": %d floor is chosen :",i);
avinashr 2:2cc70773996b 27 queue.add(i);
avinashr 2:2cc70773996b 28 if(!dcMotor.isMoving()){
avinashr 3:c3d716d6c6a7 29 if(i == currentFloor){
avinashr 2:2cc70773996b 30 floorReached(i);
avinashr 2:2cc70773996b 31 }else if(i>currentFloor){
avinashr 3:c3d716d6c6a7 32 moveForward();
avinashr 2:2cc70773996b 33 }else{
avinashr 3:c3d716d6c6a7 34 moveReverse();
avinashr 2:2cc70773996b 35 }
avinashr 2:2cc70773996b 36 }
avinashr 2:2cc70773996b 37 }
avinashr 2:2cc70773996b 38
avinashr 2:2cc70773996b 39 void doStopOperation (){
avinashr 2:2cc70773996b 40 dcMotor.stop();
avinashr 2:2cc70773996b 41 leftDoor.open();
avinashr 2:2cc70773996b 42 rightDoor.open();
avinashr 2:2cc70773996b 43 wait(1);
avinashr 2:2cc70773996b 44 leftDoor.close();
avinashr 2:2cc70773996b 45 rightDoor.close();
avinashr 2:2cc70773996b 46 }
avinashr 1:4ec28912c9e7 47
avinashr 2:2cc70773996b 48 void floorReached (int i){
avinashr 2:2cc70773996b 49 doStopOperation();
avinashr 2:2cc70773996b 50 queue.remove(i);
avinashr 3:c3d716d6c6a7 51 if(movingDirection == 1){
avinashr 3:c3d716d6c6a7 52 if(queue.isForwardRequested(i)){
avinashr 3:c3d716d6c6a7 53 moveForward();
avinashr 3:c3d716d6c6a7 54 }else if(queue.isReverseRequested(i)){
avinashr 3:c3d716d6c6a7 55 moveReverse();
avinashr 3:c3d716d6c6a7 56 }else{
avinashr 3:c3d716d6c6a7 57 movingDirection = 0;
avinashr 3:c3d716d6c6a7 58 }
avinashr 3:c3d716d6c6a7 59 }else{
avinashr 3:c3d716d6c6a7 60 if(queue.isReverseRequested(i)){
avinashr 3:c3d716d6c6a7 61 moveReverse();
avinashr 3:c3d716d6c6a7 62 }else if(queue.isForwardRequested(i)){
avinashr 3:c3d716d6c6a7 63 moveForward();
avinashr 3:c3d716d6c6a7 64 }else{
avinashr 3:c3d716d6c6a7 65 movingDirection = 0;
avinashr 3:c3d716d6c6a7 66 }
avinashr 3:c3d716d6c6a7 67 }
avinashr 2:2cc70773996b 68 }
avinashr 2:2cc70773996b 69
avinashr 2:2cc70773996b 70 void floorDetected (int i){
avinashr 2:2cc70773996b 71 currentFloor = i;
avinashr 2:2cc70773996b 72 if(queue.isRequested(i))
avinashr 2:2cc70773996b 73 floorReached(i);
avinashr 4:95fe80130442 74 else{
avinashr 4:95fe80130442 75 irFlag = 1;
avinashr 4:95fe80130442 76 if(i == 1 && movingDirection == -1){
avinashr 4:95fe80130442 77 dcMotor.stop();
avinashr 4:95fe80130442 78 if(queue.isForwardRequested(i)){
avinashr 4:95fe80130442 79 dcMotor.forward();
avinashr 4:95fe80130442 80 }
avinashr 4:95fe80130442 81 }else if(i==5 && movingDirection == 1){
avinashr 4:95fe80130442 82 dcMotor.stop();
avinashr 4:95fe80130442 83 if(queue.isReverseRequested(i)){
avinashr 4:95fe80130442 84 dcMotor.reverse();
avinashr 4:95fe80130442 85 }
avinashr 4:95fe80130442 86 }
avinashr 4:95fe80130442 87 }
avinashr 4:95fe80130442 88 }
avinashr 4:95fe80130442 89
avinashr 4:95fe80130442 90 int calculateFloor (float timePeriod){
avinashr 4:95fe80130442 91 float f = 1/timePeriod;
avinashr 4:95fe80130442 92 //pc.printf("In calculateFloor %f",f);
avinashr 4:95fe80130442 93 if (f <120.0 && f >80.0){
avinashr 4:95fe80130442 94 return 1;
avinashr 4:95fe80130442 95 }else if (f <220.0 && f >180.0){
avinashr 4:95fe80130442 96 return 2;
avinashr 4:95fe80130442 97 }else if (f <320.0 && f >280.0){
avinashr 4:95fe80130442 98 return 3;
avinashr 4:95fe80130442 99 }else if (f <420.0 && f >380.0){
avinashr 4:95fe80130442 100 return 4;
avinashr 4:95fe80130442 101 }else if (f <520.0 && f >480.0){
avinashr 4:95fe80130442 102 return 5;
avinashr 4:95fe80130442 103 }else
avinashr 4:95fe80130442 104 return 0;
avinashr 4:95fe80130442 105 }
avinashr 4:95fe80130442 106
avinashr 4:95fe80130442 107
avinashr 4:95fe80130442 108 int isFirstRise = 1;
avinashr 4:95fe80130442 109 void irRise(){
avinashr 4:95fe80130442 110 //pc.printf("Interrupt detected: %d",irFlag);
avinashr 4:95fe80130442 111 if(irFlag){
avinashr 4:95fe80130442 112 if(isFirstRise){
avinashr 4:95fe80130442 113 irTimer.start();
avinashr 4:95fe80130442 114 isFirstRise = 0;
avinashr 4:95fe80130442 115 }else{
avinashr 4:95fe80130442 116 irTimer.stop();
avinashr 4:95fe80130442 117 currentFloor = calculateFloor(irTimer.read());
avinashr 4:95fe80130442 118 if(currentFloor){
avinashr 4:95fe80130442 119 irFlag = 0;
avinashr 4:95fe80130442 120 floorDetected(currentFloor);
avinashr 4:95fe80130442 121 }
avinashr 4:95fe80130442 122 irTimer.reset();
avinashr 4:95fe80130442 123 isFirstRise = 1;
avinashr 4:95fe80130442 124 }
avinashr 4:95fe80130442 125 }
avinashr 2:2cc70773996b 126 }
avinashr 2:2cc70773996b 127
avinashr 0:27111a353928 128 int main() {
avinashr 1:4ec28912c9e7 129 initializeKeypad();
avinashr 4:95fe80130442 130 irInput.rise(&irRise);
avinashr 0:27111a353928 131 while(1) {
avinashr 4:95fe80130442 132 myled = 1;
avinashr 4:95fe80130442 133 wait(1);
avinashr 4:95fe80130442 134 myled = 0;
avinashr 4:95fe80130442 135 wait(1);
avinashr 0:27111a353928 136 }
avinashr 1:4ec28912c9e7 137 }