Revision 4:95fe80130442, committed 2015-03-27

Comitter:

avinashr

Date:

Fri Mar 27 03:53:57 2015 +0000

Parent:

3:c3d716d6c6a7

Commit message:

Elevator code, working on test bench

Changed in this revision

--- a/GlobalObjects.h	Thu Mar 26 23:41:44 2015 +0000
+++ b/GlobalObjects.h	Fri Mar 27 03:53:57 2015 +0000
@@ -15,6 +15,7 @@
 
 int currentFloor = 1;
 int movingDirection = 0; //1 for forward, -1 for reverse, 0 for stopping
+int irFlag = 0;
 
 void floorChosen(int);
 void doStopOperation();

--- a/Keypad.h	Thu Mar 26 23:41:44 2015 +0000
+++ b/Keypad.h	Fri Mar 27 03:53:57 2015 +0000
@@ -27,6 +27,7 @@
 
 void keyPressed (char ch){
     pc.printf(": %c is pressed :",ch);
+    //fflush(stdout);
     switch(ch){
         case '1': floorChosen(1); break;
         case '2': floorChosen(2); break;

--- a/RequestQueue.h	Thu Mar 26 23:41:44 2015 +0000
+++ b/RequestQueue.h	Fri Mar 27 03:53:57 2015 +0000
@@ -21,6 +21,7 @@
 };
 
 void RequestQueue::add (int i){
+    //pc.printf(":  %d is requested  :",i);
     floorRequests[i-1] = 1;
 }
 

--- a/main.cpp	Thu Mar 26 23:41:44 2015 +0000
+++ b/main.cpp	Fri Mar 27 03:53:57 2015 +0000
@@ -7,18 +7,23 @@
 #include "RequestQueue.h"
  
 DigitalOut myled(LED1);
+InterruptIn irInput(p14);
+Timer irTimer;
 
 void moveForward (){
     dcMotor.forward();
     movingDirection = 1;
+    irFlag = 1;
 }
 
 void moveReverse(){
     dcMotor.reverse();
     movingDirection = -1;
+    irFlag = 1;
 }
 
 void floorChosen (int i){
+    pc.printf(":  %d floor is chosen  :",i);
     queue.add(i);
     if(!dcMotor.isMoving()){
         if(i == currentFloor){  
@@ -66,20 +71,67 @@
     currentFloor = i;
     if(queue.isRequested(i))
         floorReached(i);
+    else{
+        irFlag = 1;
+        if(i == 1 && movingDirection == -1){
+            dcMotor.stop();
+            if(queue.isForwardRequested(i)){
+                dcMotor.forward();
+            }
+        }else if(i==5 && movingDirection == 1){
+            dcMotor.stop();
+            if(queue.isReverseRequested(i)){
+                dcMotor.reverse();
+            }
+        }
+    }
+}
+
+int calculateFloor (float timePeriod){
+    float f = 1/timePeriod;
+    //pc.printf("In calculateFloor %f",f);
+    if (f <120.0 && f >80.0){
+        return 1;
+    }else if (f <220.0 && f >180.0){
+        return 2;
+    }else if (f <320.0 && f >280.0){
+        return 3;
+    }else if (f <420.0 && f >380.0){
+        return 4;
+    }else if (f <520.0 && f >480.0){
+        return 5;
+    }else
+        return 0;
+}
+
+
+int isFirstRise = 1;
+void irRise(){
+    //pc.printf("Interrupt detected: %d",irFlag);
+    if(irFlag){
+        if(isFirstRise){
+            irTimer.start();
+            isFirstRise = 0;
+        }else{
+            irTimer.stop();
+            currentFloor = calculateFloor(irTimer.read());
+            if(currentFloor){
+                irFlag = 0;
+                floorDetected(currentFloor);
+            }
+            irTimer.reset();    
+            isFirstRise = 1;
+        }
+    }
 }
 
 int main() {
     initializeKeypad();
+    irInput.rise(&irRise);
     while(1) {
-        //dcMotor.forward();
-        leftDoor.open();
-        rightDoor.open();
-        myled = 1;
-        wait(3);
-        //dcMotor.stop();
-        leftDoor.close();
-        rightDoor.close();
-        myled = 0;
-        wait(3);
+       myled = 1;
+       wait(1);
+       myled = 0;
+       wait(1);
     }
 }
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