Hemanth Kumar Lekkala / Mbed 2 deprecated Lab4

final

Dependencies:   Motor mbed

main.cpp@0:9de45e2c32dc, 2015-03-31 (annotated)

Committer:
snehanayak16
Date:
Tue Mar 31 03:43:30 2015 +0000
Revision:
0:9de45e2c32dc
Child:
1:d4b4c89e4a43
Done!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
snehanayak16 0:9de45e2c32dc 1 // Test
snehanayak16 0:9de45e2c32dc 2
snehanayak16 0:9de45e2c32dc 3 #include "mbed.h"
snehanayak16 0:9de45e2c32dc 4 #include "Motor.h"
snehanayak16 0:9de45e2c32dc 5 #include <vector>
snehanayak16 0:9de45e2c32dc 6
snehanayak16 0:9de45e2c32dc 7 PwmOut servo1(p21); // Left motor
snehanayak16 0:9de45e2c32dc 8 PwmOut servo2(p22); // Right motor
snehanayak16 0:9de45e2c32dc 9
snehanayak16 0:9de45e2c32dc 10 AnalogIn a_pin(p20);
snehanayak16 0:9de45e2c32dc 11
snehanayak16 0:9de45e2c32dc 12 using namespace std;
snehanayak16 0:9de45e2c32dc 13 Timer period_t;
snehanayak16 0:9de45e2c32dc 14
snehanayak16 0:9de45e2c32dc 15 InterruptIn pin(p24);
snehanayak16 0:9de45e2c32dc 16
snehanayak16 0:9de45e2c32dc 17 Motor m(p23, p6, p7);
snehanayak16 0:9de45e2c32dc 18
snehanayak16 0:9de45e2c32dc 19 Serial pc(USBTX, USBRX);
snehanayak16 0:9de45e2c32dc 20 vector<int> request;
snehanayak16 0:9de45e2c32dc 21 // Scanning Keypad
snehanayak16 0:9de45e2c32dc 22 DigitalOut row2(p11);
snehanayak16 0:9de45e2c32dc 23 //DigitalOut row3(p12);
snehanayak16 0:9de45e2c32dc 24 //DigitalOut row4(p14);
snehanayak16 0:9de45e2c32dc 25 DigitalOut row1(p18);
snehanayak16 0:9de45e2c32dc 26
snehanayak16 0:9de45e2c32dc 27 InterruptIn column1(p13);
snehanayak16 0:9de45e2c32dc 28 InterruptIn column2(p15);
snehanayak16 0:9de45e2c32dc 29 InterruptIn column3(p16);
snehanayak16 0:9de45e2c32dc 30 //DigitalIn column4(p17);
snehanayak16 0:9de45e2c32dc 31 Ticker t_scan;
snehanayak16 0:9de45e2c32dc 32
snehanayak16 0:9de45e2c32dc 33 Ticker rowsTick;
snehanayak16 0:9de45e2c32dc 34
snehanayak16 0:9de45e2c32dc 35 int flag=0;
snehanayak16 0:9de45e2c32dc 36 float freq,period;
snehanayak16 0:9de45e2c32dc 37 int count = 0;
snehanayak16 0:9de45e2c32dc 38 int i=0;
snehanayak16 0:9de45e2c32dc 39 int numfloor,diff; // Floor number from keypad (input)
snehanayak16 0:9de45e2c32dc 40 int curfloor;
snehanayak16 0:9de45e2c32dc 41
snehanayak16 0:9de45e2c32dc 42 int move; // Up = 1 , down = 0
snehanayak16 0:9de45e2c32dc 43
snehanayak16 0:9de45e2c32dc 44 void sort(){
snehanayak16 0:9de45e2c32dc 45 int num;
snehanayak16 0:9de45e2c32dc 46 int n = request.size();
snehanayak16 0:9de45e2c32dc 47 for(int l=0; l<n; l++){
snehanayak16 0:9de45e2c32dc 48 for(int m=0; m < n-l-1; m++){
snehanayak16 0:9de45e2c32dc 49 if(request[m] > request[m+1]){
snehanayak16 0:9de45e2c32dc 50 num = request[m];
snehanayak16 0:9de45e2c32dc 51 request[m] = request[m+1];
snehanayak16 0:9de45e2c32dc 52 request[m+1] = num;
snehanayak16 0:9de45e2c32dc 53 }
snehanayak16 0:9de45e2c32dc 54 }
snehanayak16 0:9de45e2c32dc 55 }
snehanayak16 0:9de45e2c32dc 56 //pc.printf("Queue : ");
snehanayak16 0:9de45e2c32dc 57 /*
snehanayak16 0:9de45e2c32dc 58 for(int m = 0; m<n; m++){
snehanayak16 0:9de45e2c32dc 59 pc.printf("%d ",request[m]);
snehanayak16 0:9de45e2c32dc 60 } */
snehanayak16 0:9de45e2c32dc 61 //pc.printf("\r\n");
snehanayak16 0:9de45e2c32dc 62 }
snehanayak16 0:9de45e2c32dc 63
snehanayak16 0:9de45e2c32dc 64 void door_oc(){
snehanayak16 0:9de45e2c32dc 65 pc.printf("On floor : %d \r\n",numfloor);
snehanayak16 0:9de45e2c32dc 66 pc.printf("Door Opening\r\n");
snehanayak16 0:9de45e2c32dc 67 servo1.pulsewidth(0.00075);
snehanayak16 0:9de45e2c32dc 68 servo2.pulsewidth(0.00075);
snehanayak16 0:9de45e2c32dc 69
snehanayak16 0:9de45e2c32dc 70 wait(2);
snehanayak16 0:9de45e2c32dc 71
snehanayak16 0:9de45e2c32dc 72 pc.printf("Door Closing\r\n");
snehanayak16 0:9de45e2c32dc 73 servo1.pulsewidth(0.00225);
snehanayak16 0:9de45e2c32dc 74 servo2.pulsewidth(0.00225);
snehanayak16 0:9de45e2c32dc 75
snehanayak16 0:9de45e2c32dc 76 }
snehanayak16 0:9de45e2c32dc 77
snehanayak16 0:9de45e2c32dc 78
snehanayak16 0:9de45e2c32dc 79 int exist(int number)
snehanayak16 0:9de45e2c32dc 80 {
snehanayak16 0:9de45e2c32dc 81
snehanayak16 0:9de45e2c32dc 82 for(int t=0;t<request.size();t++)
snehanayak16 0:9de45e2c32dc 83 {
snehanayak16 0:9de45e2c32dc 84 if(number == request[t])
snehanayak16 0:9de45e2c32dc 85 {
snehanayak16 0:9de45e2c32dc 86 return 1;
snehanayak16 0:9de45e2c32dc 87 }
snehanayak16 0:9de45e2c32dc 88 }
snehanayak16 0:9de45e2c32dc 89 return 0;
snehanayak16 0:9de45e2c32dc 90 }
snehanayak16 0:9de45e2c32dc 91
snehanayak16 0:9de45e2c32dc 92 // Scanning Keypad
snehanayak16 0:9de45e2c32dc 93
snehanayak16 0:9de45e2c32dc 94 void scan(){
snehanayak16 0:9de45e2c32dc 95 flag++;
snehanayak16 0:9de45e2c32dc 96 if(flag>2){
snehanayak16 0:9de45e2c32dc 97 flag = 1;
snehanayak16 0:9de45e2c32dc 98 }
snehanayak16 0:9de45e2c32dc 99 switch(flag){
snehanayak16 0:9de45e2c32dc 100 case 1 : row2 = 1;row1 = 0; break;
snehanayak16 0:9de45e2c32dc 101 case 2 : row1 = 1;row2 = 0; break;
snehanayak16 0:9de45e2c32dc 102 default : break;
snehanayak16 0:9de45e2c32dc 103 }
snehanayak16 0:9de45e2c32dc 104
snehanayak16 0:9de45e2c32dc 105 }
snehanayak16 0:9de45e2c32dc 106 void fall1(){
snehanayak16 0:9de45e2c32dc 107 if(flag == 1)
snehanayak16 0:9de45e2c32dc 108 {
snehanayak16 0:9de45e2c32dc 109 int c1 = exist(1);
snehanayak16 0:9de45e2c32dc 110 if( c1 == 0 && request.size()<4)
snehanayak16 0:9de45e2c32dc 111 {
snehanayak16 0:9de45e2c32dc 112 request.push_back(1);
snehanayak16 0:9de45e2c32dc 113 sort();
snehanayak16 0:9de45e2c32dc 114 //pc.printf("Buff size %d\r\n",request.size());
snehanayak16 0:9de45e2c32dc 115 pc.printf("You typed : 1\r\n");
snehanayak16 0:9de45e2c32dc 116 }
snehanayak16 0:9de45e2c32dc 117 }
snehanayak16 0:9de45e2c32dc 118 else if(flag == 2)
snehanayak16 0:9de45e2c32dc 119 {
snehanayak16 0:9de45e2c32dc 120 int c4 = exist(4);
snehanayak16 0:9de45e2c32dc 121 if( c4 == 0 && request.size()<4)
snehanayak16 0:9de45e2c32dc 122 {
snehanayak16 0:9de45e2c32dc 123 request.push_back(4);
snehanayak16 0:9de45e2c32dc 124 sort();
snehanayak16 0:9de45e2c32dc 125 //pc.printf("Buff size %d\r\n",request.size());
snehanayak16 0:9de45e2c32dc 126 pc.printf("You typed : 4\r\n");
snehanayak16 0:9de45e2c32dc 127 }
snehanayak16 0:9de45e2c32dc 128 }
snehanayak16 0:9de45e2c32dc 129 }
snehanayak16 0:9de45e2c32dc 130 void fall2(){
snehanayak16 0:9de45e2c32dc 131 if(flag == 1)
snehanayak16 0:9de45e2c32dc 132 {
snehanayak16 0:9de45e2c32dc 133 int c2 = exist(2);
snehanayak16 0:9de45e2c32dc 134 if( c2 == 0 && request.size()<4)
snehanayak16 0:9de45e2c32dc 135 {
snehanayak16 0:9de45e2c32dc 136 request.push_back(2);
snehanayak16 0:9de45e2c32dc 137 sort();
snehanayak16 0:9de45e2c32dc 138 //pc.printf("Buff size %d\r\n",request.size());
snehanayak16 0:9de45e2c32dc 139 pc.printf("You typed : 2\r\n");
snehanayak16 0:9de45e2c32dc 140 }
snehanayak16 0:9de45e2c32dc 141 }
snehanayak16 0:9de45e2c32dc 142 else if(flag == 2)
snehanayak16 0:9de45e2c32dc 143 {
snehanayak16 0:9de45e2c32dc 144 int c5 = exist(5);
snehanayak16 0:9de45e2c32dc 145 if( c5 == 0 && request.size()<4)
snehanayak16 0:9de45e2c32dc 146 {
snehanayak16 0:9de45e2c32dc 147 request.push_back(5);
snehanayak16 0:9de45e2c32dc 148 sort();
snehanayak16 0:9de45e2c32dc 149 //pc.printf("Buff size %d\r\n",request.size());
snehanayak16 0:9de45e2c32dc 150 pc.printf("You typed : 5\r\n");
snehanayak16 0:9de45e2c32dc 151 }
snehanayak16 0:9de45e2c32dc 152 }
snehanayak16 0:9de45e2c32dc 153 }
snehanayak16 0:9de45e2c32dc 154 void fall3(){
snehanayak16 0:9de45e2c32dc 155 if(flag == 1)
snehanayak16 0:9de45e2c32dc 156 {
snehanayak16 0:9de45e2c32dc 157 int c3 = exist(3);
snehanayak16 0:9de45e2c32dc 158 if( c3 == 0 && request.size()<4)
snehanayak16 0:9de45e2c32dc 159 {
snehanayak16 0:9de45e2c32dc 160 request.push_back(3);
snehanayak16 0:9de45e2c32dc 161 sort();
snehanayak16 0:9de45e2c32dc 162 //pc.printf("Buff size %d\r\n",request.size());
snehanayak16 0:9de45e2c32dc 163 pc.printf("You typed : 3\r\n");
snehanayak16 0:9de45e2c32dc 164 }
snehanayak16 0:9de45e2c32dc 165 }
snehanayak16 0:9de45e2c32dc 166 }
snehanayak16 0:9de45e2c32dc 167
snehanayak16 0:9de45e2c32dc 168
snehanayak16 0:9de45e2c32dc 169 void direction(){
snehanayak16 0:9de45e2c32dc 170 for(int k = 0;k<request.size();k++){
snehanayak16 0:9de45e2c32dc 171 if(request[k] == curfloor){
snehanayak16 0:9de45e2c32dc 172 numfloor = curfloor;
snehanayak16 0:9de45e2c32dc 173 door_oc();
snehanayak16 0:9de45e2c32dc 174 request.erase(request.begin()+k);
snehanayak16 0:9de45e2c32dc 175 break;
snehanayak16 0:9de45e2c32dc 176 }
snehanayak16 0:9de45e2c32dc 177 }
snehanayak16 0:9de45e2c32dc 178 if(request.size()>0){
snehanayak16 0:9de45e2c32dc 179 int max = request[request.size()-1];
snehanayak16 0:9de45e2c32dc 180 if(max > curfloor){
snehanayak16 0:9de45e2c32dc 181 move = 1;
snehanayak16 0:9de45e2c32dc 182 }
snehanayak16 0:9de45e2c32dc 183 else if(max < curfloor){
snehanayak16 0:9de45e2c32dc 184 move = 0;
snehanayak16 0:9de45e2c32dc 185 }
snehanayak16 0:9de45e2c32dc 186 }
snehanayak16 0:9de45e2c32dc 187 }
snehanayak16 0:9de45e2c32dc 188
snehanayak16 0:9de45e2c32dc 189
snehanayak16 0:9de45e2c32dc 190 int floor_detect(){
snehanayak16 0:9de45e2c32dc 191
snehanayak16 0:9de45e2c32dc 192 if(freq > 90.0 && freq < 110.0){
snehanayak16 0:9de45e2c32dc 193 curfloor = 1;
snehanayak16 0:9de45e2c32dc 194 pc.printf("Floor : %d \r\n",curfloor);
snehanayak16 0:9de45e2c32dc 195 //wait(2);
snehanayak16 0:9de45e2c32dc 196 }
snehanayak16 0:9de45e2c32dc 197 else if(freq > 190.0 && freq < 210.0){
snehanayak16 0:9de45e2c32dc 198 curfloor = 2;
snehanayak16 0:9de45e2c32dc 199 pc.printf("Floor : %d \r\n",curfloor);
snehanayak16 0:9de45e2c32dc 200 //wait(2);
snehanayak16 0:9de45e2c32dc 201 }
snehanayak16 0:9de45e2c32dc 202 else if(freq > 290.0 && freq < 310.0){
snehanayak16 0:9de45e2c32dc 203 curfloor = 3;
snehanayak16 0:9de45e2c32dc 204 pc.printf("Floor : %d \r\n",curfloor);
snehanayak16 0:9de45e2c32dc 205 //wait(2);
snehanayak16 0:9de45e2c32dc 206 }
snehanayak16 0:9de45e2c32dc 207 else if(freq > 390.0 && freq < 410.0){
snehanayak16 0:9de45e2c32dc 208 curfloor = 4;
snehanayak16 0:9de45e2c32dc 209 pc.printf("Floor : %d \r\n",curfloor);
snehanayak16 0:9de45e2c32dc 210 //wait(2);
snehanayak16 0:9de45e2c32dc 211 }
snehanayak16 0:9de45e2c32dc 212 else if(freq > 490.0 && freq < 510.0){
snehanayak16 0:9de45e2c32dc 213 curfloor = 5;
snehanayak16 0:9de45e2c32dc 214 pc.printf("Floor : %d \r\n",curfloor);
snehanayak16 0:9de45e2c32dc 215 //wait(2);
snehanayak16 0:9de45e2c32dc 216 }
snehanayak16 0:9de45e2c32dc 217
snehanayak16 0:9de45e2c32dc 218
snehanayak16 0:9de45e2c32dc 219
snehanayak16 0:9de45e2c32dc 220 return curfloor;
snehanayak16 0:9de45e2c32dc 221 }
snehanayak16 0:9de45e2c32dc 222
snehanayak16 0:9de45e2c32dc 223
snehanayak16 0:9de45e2c32dc 224
snehanayak16 0:9de45e2c32dc 225 void rise_edge(){
snehanayak16 0:9de45e2c32dc 226
snehanayak16 0:9de45e2c32dc 227 if(a_pin.read()>0.95){
snehanayak16 0:9de45e2c32dc 228 count ++;
snehanayak16 0:9de45e2c32dc 229 if(count == 1){
snehanayak16 0:9de45e2c32dc 230 period_t.start();
snehanayak16 0:9de45e2c32dc 231 }
snehanayak16 0:9de45e2c32dc 232 else if(count == 2){
snehanayak16 0:9de45e2c32dc 233 period_t.stop();
snehanayak16 0:9de45e2c32dc 234 period = period_t.read();
snehanayak16 0:9de45e2c32dc 235 freq = 1.0/period;
snehanayak16 0:9de45e2c32dc 236 period_t.reset();
snehanayak16 0:9de45e2c32dc 237 count = 0;
snehanayak16 0:9de45e2c32dc 238 }
snehanayak16 0:9de45e2c32dc 239 }
snehanayak16 0:9de45e2c32dc 240 if(freq > 0.0){
snehanayak16 0:9de45e2c32dc 241 //pc.printf("Freq: %3.2f\r\n",freq);
snehanayak16 0:9de45e2c32dc 242 }
snehanayak16 0:9de45e2c32dc 243 }
snehanayak16 0:9de45e2c32dc 244
snehanayak16 0:9de45e2c32dc 245 int get_index(int floor){
snehanayak16 0:9de45e2c32dc 246 for(int k = 0;k<request.size();k++){
snehanayak16 0:9de45e2c32dc 247 if(request[k]==floor){
snehanayak16 0:9de45e2c32dc 248 return k;
snehanayak16 0:9de45e2c32dc 249 }
snehanayak16 0:9de45e2c32dc 250 }
snehanayak16 0:9de45e2c32dc 251 return -1;
snehanayak16 0:9de45e2c32dc 252 }
snehanayak16 0:9de45e2c32dc 253
snehanayak16 0:9de45e2c32dc 254 int main() {
snehanayak16 0:9de45e2c32dc 255
snehanayak16 0:9de45e2c32dc 256 t_scan.attach(&scan,0.004);
snehanayak16 0:9de45e2c32dc 257 column1.fall(&fall1);
snehanayak16 0:9de45e2c32dc 258 column2.fall(&fall2);
snehanayak16 0:9de45e2c32dc 259 column3.fall(&fall3);
snehanayak16 0:9de45e2c32dc 260
snehanayak16 0:9de45e2c32dc 261 servo1.period(0.020);
snehanayak16 0:9de45e2c32dc 262
snehanayak16 0:9de45e2c32dc 263 //request.push_back(5);
snehanayak16 0:9de45e2c32dc 264 //request.push_back(4);
snehanayak16 0:9de45e2c32dc 265 //request.push_back(3);
snehanayak16 0:9de45e2c32dc 266 //request.push_back(1);
snehanayak16 0:9de45e2c32dc 267
snehanayak16 0:9de45e2c32dc 268 /*
snehanayak16 0:9de45e2c32dc 269 row1 = 0; //row initialization
snehanayak16 0:9de45e2c32dc 270 row2 = 0;
snehanayak16 0:9de45e2c32dc 271 */
snehanayak16 0:9de45e2c32dc 272 pc.printf("Start freq : %d\r\n", freq);
snehanayak16 0:9de45e2c32dc 273 pin.rise(&rise_edge);
snehanayak16 0:9de45e2c32dc 274 /*
snehanayak16 0:9de45e2c32dc 275 while(!(freq>90.0 && freq <110.0)){
snehanayak16 0:9de45e2c32dc 276 m.speed(-1.0);
snehanayak16 0:9de45e2c32dc 277 }
snehanayak16 0:9de45e2c32dc 278 m.speed(0.0);
snehanayak16 0:9de45e2c32dc 279 */
snehanayak16 0:9de45e2c32dc 280 pc.printf("Start Now ............................. \r\n");
snehanayak16 0:9de45e2c32dc 281 while(1){
snehanayak16 0:9de45e2c32dc 282
snehanayak16 0:9de45e2c32dc 283 //sort();
snehanayak16 0:9de45e2c32dc 284 while(request.size()!=0){
snehanayak16 0:9de45e2c32dc 285 sort();
snehanayak16 0:9de45e2c32dc 286 curfloor = floor_detect();
snehanayak16 0:9de45e2c32dc 287 direction();
snehanayak16 0:9de45e2c32dc 288 if(move == 1){
snehanayak16 0:9de45e2c32dc 289 for(int k = 0;k<request.size();k++){
snehanayak16 0:9de45e2c32dc 290 sort();
snehanayak16 0:9de45e2c32dc 291 numfloor = request[k];
snehanayak16 0:9de45e2c32dc 292 diff = numfloor - curfloor;
snehanayak16 0:9de45e2c32dc 293 while(diff > 0){
snehanayak16 0:9de45e2c32dc 294 //pc.printf("DC ON +1 \r\n");
snehanayak16 0:9de45e2c32dc 295 m.speed(1.0);
snehanayak16 0:9de45e2c32dc 296 //pc.printf("Service for : %d \r\n",numfloor);
snehanayak16 0:9de45e2c32dc 297 //pc.printf("Now at : %d \r\n",curfloor);
snehanayak16 0:9de45e2c32dc 298 //pc.printf("Going Up \r\n");
snehanayak16 0:9de45e2c32dc 299 curfloor = floor_detect();
snehanayak16 0:9de45e2c32dc 300 if(exist(curfloor)){
snehanayak16 0:9de45e2c32dc 301 numfloor = curfloor;
snehanayak16 0:9de45e2c32dc 302 }
snehanayak16 0:9de45e2c32dc 303 int f_index = get_index(curfloor);
snehanayak16 0:9de45e2c32dc 304 diff = numfloor - curfloor;
snehanayak16 0:9de45e2c32dc 305 if(diff == 0 && f_index!= -1){
snehanayak16 0:9de45e2c32dc 306 //wait(2);
snehanayak16 0:9de45e2c32dc 307 pc.printf("DC OFF \r\n");
snehanayak16 0:9de45e2c32dc 308 m.speed(0.0);
snehanayak16 0:9de45e2c32dc 309 request.erase(request.begin()+f_index);
snehanayak16 0:9de45e2c32dc 310 k--;
snehanayak16 0:9de45e2c32dc 311 door_oc();
snehanayak16 0:9de45e2c32dc 312 }
snehanayak16 0:9de45e2c32dc 313 }
snehanayak16 0:9de45e2c32dc 314 }
snehanayak16 0:9de45e2c32dc 315
snehanayak16 0:9de45e2c32dc 316
snehanayak16 0:9de45e2c32dc 317 }
snehanayak16 0:9de45e2c32dc 318 else if(move == 0){
snehanayak16 0:9de45e2c32dc 319 for(int k = request.size()-1;k >= 0;k--){
snehanayak16 0:9de45e2c32dc 320 sort();
snehanayak16 0:9de45e2c32dc 321 numfloor = request[k];
snehanayak16 0:9de45e2c32dc 322 diff = numfloor - curfloor;
snehanayak16 0:9de45e2c32dc 323 while(diff < 0){
snehanayak16 0:9de45e2c32dc 324 //pc.printf("DC ON -1 \r\n");
snehanayak16 0:9de45e2c32dc 325 m.speed(-1.0);
snehanayak16 0:9de45e2c32dc 326 //pc.printf("Service for : %d \r\n",numfloor);
snehanayak16 0:9de45e2c32dc 327 //pc.printf("Now at : %d \r\n",curfloor);
snehanayak16 0:9de45e2c32dc 328 //pc.printf("Going Down \r\n");
snehanayak16 0:9de45e2c32dc 329 curfloor = floor_detect();
snehanayak16 0:9de45e2c32dc 330 if(exist(curfloor)){
snehanayak16 0:9de45e2c32dc 331 numfloor = curfloor;
snehanayak16 0:9de45e2c32dc 332 }
snehanayak16 0:9de45e2c32dc 333 int f_index = get_index(curfloor);
snehanayak16 0:9de45e2c32dc 334 diff = numfloor - curfloor;
snehanayak16 0:9de45e2c32dc 335 if(diff == 0 && f_index!= -1){
snehanayak16 0:9de45e2c32dc 336 pc.printf("DC OFF \r\n");
snehanayak16 0:9de45e2c32dc 337 //wait(2);
snehanayak16 0:9de45e2c32dc 338 m.speed(0.0);
snehanayak16 0:9de45e2c32dc 339 request.erase(request.begin()+k);
snehanayak16 0:9de45e2c32dc 340 k++;
snehanayak16 0:9de45e2c32dc 341 door_oc();
snehanayak16 0:9de45e2c32dc 342 }
snehanayak16 0:9de45e2c32dc 343 }
snehanayak16 0:9de45e2c32dc 344 }
snehanayak16 0:9de45e2c32dc 345 }
snehanayak16 0:9de45e2c32dc 346 }
snehanayak16 0:9de45e2c32dc 347 }
snehanayak16 0:9de45e2c32dc 348 }
snehanayak16 0:9de45e2c32dc 349
snehanayak16 0:9de45e2c32dc 350 // Move 1
snehanayak16 0:9de45e2c32dc 351 /*
snehanayak16 0:9de45e2c32dc 352 for(int k = 0;k<request.size();k++){
snehanayak16 0:9de45e2c32dc 353 sort();
snehanayak16 0:9de45e2c32dc 354 numfloor = request[k];
snehanayak16 0:9de45e2c32dc 355 diff = numfloor - curfloor;
snehanayak16 0:9de45e2c32dc 356 while(diff > 0){
snehanayak16 0:9de45e2c32dc 357 //pc.printf("DC ON +1 \r\n");
snehanayak16 0:9de45e2c32dc 358 m.speed(1.0);
snehanayak16 0:9de45e2c32dc 359 //pc.printf("Service for : %d \r\n",numfloor);
snehanayak16 0:9de45e2c32dc 360 //pc.printf("Now at : %d \r\n",curfloor);
snehanayak16 0:9de45e2c32dc 361 //pc.printf("Going Up \r\n");
snehanayak16 0:9de45e2c32dc 362 curfloor = floor_detect();
snehanayak16 0:9de45e2c32dc 363 diff = numfloor - curfloor;
snehanayak16 0:9de45e2c32dc 364 if(diff == 0){
snehanayak16 0:9de45e2c32dc 365 //wait(2);
snehanayak16 0:9de45e2c32dc 366 pc.printf("DC OFF \r\n");
snehanayak16 0:9de45e2c32dc 367 m.speed(0.0);
snehanayak16 0:9de45e2c32dc 368 request.erase(request.begin()+k);
snehanayak16 0:9de45e2c32dc 369 k--;
snehanayak16 0:9de45e2c32dc 370 door_oc();
snehanayak16 0:9de45e2c32dc 371 }
snehanayak16 0:9de45e2c32dc 372 }
snehanayak16 0:9de45e2c32dc 373 } */
snehanayak16 0:9de45e2c32dc 374
snehanayak16 0:9de45e2c32dc 375 /*
snehanayak16 0:9de45e2c32dc 376
snehanayak16 0:9de45e2c32dc 377 numfloor = floor_detect();
snehanayak16 0:9de45e2c32dc 378 while(numfloor!=request[request.size()-1]){
snehanayak16 0:9de45e2c32dc 379 numfloor = floor_detect();
snehanayak16 0:9de45e2c32dc 380 diff = numfloor - curfloor;
snehanayak16 0:9de45e2c32dc 381 if(diff > 0){
snehanayak16 0:9de45e2c32dc 382 m.speed(1.0);
snehanayak16 0:9de45e2c32dc 383 if(exist(numfloor)){
snehanayak16 0:9de45e2c32dc 384 door_oc();
snehanayak16 0:9de45e2c32dc 385
snehanayak16 0:9de45e2c32dc 386 }
snehanayak16 0:9de45e2c32dc 387
snehanayak16 0:9de45e2c32dc 388 }
snehanayak16 0:9de45e2c32dc 389
snehanayak16 0:9de45e2c32dc 390 } */