Avinash Repaka / Mbed 2 deprecated Lab4_519

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Dependencies:   mbed

Diff: main.cpp

Revision:
3:c3d716d6c6a7
Parent:
2:2cc70773996b
Child:
4:95fe80130442
--- a/main.cpp	Thu Mar 26 06:10:56 2015 +0000
+++ b/main.cpp	Thu Mar 26 23:41:44 2015 +0000
@@ -8,15 +8,25 @@
  
 DigitalOut myled(LED1);
 
+void moveForward (){
+    dcMotor.forward();
+    movingDirection = 1;
+}
+
+void moveReverse(){
+    dcMotor.reverse();
+    movingDirection = -1;
+}
+
 void floorChosen (int i){
     queue.add(i);
     if(!dcMotor.isMoving()){
-        if(i == currentFloor){
+        if(i == currentFloor){  
             floorReached(i);
         }else if(i>currentFloor){
-            dcMotor.forward();
+            moveForward();
         }else{
-            dcMotor.reverse();
+            moveReverse();
         }
     }
 }
@@ -33,7 +43,23 @@
 void floorReached (int i){
     doStopOperation();
     queue.remove(i);
-    //choose next floor
+    if(movingDirection == 1){
+        if(queue.isForwardRequested(i)){
+            moveForward();
+        }else if(queue.isReverseRequested(i)){
+            moveReverse();
+        }else{
+            movingDirection = 0;
+        }
+    }else{
+        if(queue.isReverseRequested(i)){
+            moveReverse();
+        }else if(queue.isForwardRequested(i)){
+            moveForward();
+        }else{
+            movingDirection = 0;
+        }
+    }
 }
 
 void floorDetected (int i){