Avinash Repaka / Mbed 2 deprecated Lab4_519

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Dependencies:   mbed

main.cpp@3:c3d716d6c6a7, 2015-03-26 (annotated)

Committer:
avinashr
Date:
Thu Mar 26 23:41:44 2015 +0000
Revision:
3:c3d716d6c6a7
Parent:
2:2cc70773996b
Child:
4:95fe80130442
Logic completely implemented

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 2:2cc70773996b 10
avinashr 3:c3d716d6c6a7 11 void moveForward (){
avinashr 3:c3d716d6c6a7 12 dcMotor.forward();
avinashr 3:c3d716d6c6a7 13 movingDirection = 1;
avinashr 3:c3d716d6c6a7 14 }
avinashr 3:c3d716d6c6a7 15
avinashr 3:c3d716d6c6a7 16 void moveReverse(){
avinashr 3:c3d716d6c6a7 17 dcMotor.reverse();
avinashr 3:c3d716d6c6a7 18 movingDirection = -1;
avinashr 3:c3d716d6c6a7 19 }
avinashr 3:c3d716d6c6a7 20
avinashr 2:2cc70773996b 21 void floorChosen (int i){
avinashr 2:2cc70773996b 22 queue.add(i);
avinashr 2:2cc70773996b 23 if(!dcMotor.isMoving()){
avinashr 3:c3d716d6c6a7 24 if(i == currentFloor){
avinashr 2:2cc70773996b 25 floorReached(i);
avinashr 2:2cc70773996b 26 }else if(i>currentFloor){
avinashr 3:c3d716d6c6a7 27 moveForward();
avinashr 2:2cc70773996b 28 }else{
avinashr 3:c3d716d6c6a7 29 moveReverse();
avinashr 2:2cc70773996b 30 }
avinashr 2:2cc70773996b 31 }
avinashr 2:2cc70773996b 32 }
avinashr 2:2cc70773996b 33
avinashr 2:2cc70773996b 34 void doStopOperation (){
avinashr 2:2cc70773996b 35 dcMotor.stop();
avinashr 2:2cc70773996b 36 leftDoor.open();
avinashr 2:2cc70773996b 37 rightDoor.open();
avinashr 2:2cc70773996b 38 wait(1);
avinashr 2:2cc70773996b 39 leftDoor.close();
avinashr 2:2cc70773996b 40 rightDoor.close();
avinashr 2:2cc70773996b 41 }
avinashr 1:4ec28912c9e7 42
avinashr 2:2cc70773996b 43 void floorReached (int i){
avinashr 2:2cc70773996b 44 doStopOperation();
avinashr 2:2cc70773996b 45 queue.remove(i);
avinashr 3:c3d716d6c6a7 46 if(movingDirection == 1){
avinashr 3:c3d716d6c6a7 47 if(queue.isForwardRequested(i)){
avinashr 3:c3d716d6c6a7 48 moveForward();
avinashr 3:c3d716d6c6a7 49 }else if(queue.isReverseRequested(i)){
avinashr 3:c3d716d6c6a7 50 moveReverse();
avinashr 3:c3d716d6c6a7 51 }else{
avinashr 3:c3d716d6c6a7 52 movingDirection = 0;
avinashr 3:c3d716d6c6a7 53 }
avinashr 3:c3d716d6c6a7 54 }else{
avinashr 3:c3d716d6c6a7 55 if(queue.isReverseRequested(i)){
avinashr 3:c3d716d6c6a7 56 moveReverse();
avinashr 3:c3d716d6c6a7 57 }else if(queue.isForwardRequested(i)){
avinashr 3:c3d716d6c6a7 58 moveForward();
avinashr 3:c3d716d6c6a7 59 }else{
avinashr 3:c3d716d6c6a7 60 movingDirection = 0;
avinashr 3:c3d716d6c6a7 61 }
avinashr 3:c3d716d6c6a7 62 }
avinashr 2:2cc70773996b 63 }
avinashr 2:2cc70773996b 64
avinashr 2:2cc70773996b 65 void floorDetected (int i){
avinashr 2:2cc70773996b 66 currentFloor = i;
avinashr 2:2cc70773996b 67 if(queue.isRequested(i))
avinashr 2:2cc70773996b 68 floorReached(i);
avinashr 2:2cc70773996b 69 }
avinashr 2:2cc70773996b 70
avinashr 0:27111a353928 71 int main() {
avinashr 1:4ec28912c9e7 72 initializeKeypad();
avinashr 0:27111a353928 73 while(1) {
avinashr 1:4ec28912c9e7 74 //dcMotor.forward();
avinashr 1:4ec28912c9e7 75 leftDoor.open();
avinashr 1:4ec28912c9e7 76 rightDoor.open();
avinashr 0:27111a353928 77 myled = 1;
avinashr 1:4ec28912c9e7 78 wait(3);
avinashr 1:4ec28912c9e7 79 //dcMotor.stop();
avinashr 1:4ec28912c9e7 80 leftDoor.close();
avinashr 1:4ec28912c9e7 81 rightDoor.close();
avinashr 0:27111a353928 82 myled = 0;
avinashr 1:4ec28912c9e7 83 wait(3);
avinashr 0:27111a353928 84 }
avinashr 1:4ec28912c9e7 85 }