Jasmine Karlsson / Mbed 2 deprecated train_rail

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Dependencies:   mbed TextLCD

main.cpp@26:f5e71308a13e, 2018-06-20 (annotated)

Committer:
KwamsC
Date:
Wed Jun 20 10:05:45 2018 +0000
Revision:
26:f5e71308a13e
Parent:
25:90f7a34c253a
Child:
27:9f9cd0df9a79
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
jasminealice 0:57cbecaac770 1 #include "mbed.h"
Kwame 2:9bb410612929 2 #include "TextLCD.h"
jasminealice 18:f5824ba95892 3 #include "MCP23017.h"
jasminealice 18:f5824ba95892 4 #include "Train.h"
jasminealice 20:32ba0a5f2d02 5 #include "Switch.h"
jasminealice 20:32ba0a5f2d02 6 #include "Track.h"
jasminealice 21:31647d80614f 7 #include "Detector.h"
KwamsC 24:418711ed8c52 8 #include <cstdlib>
KwamsC 10:cda57976225f 9
jasminealice 16:55c3c5727f14 10 //Board 1
jasminealice 16:55c3c5727f14 11 /*----------------------------------------------------------------------------
jasminealice 16:55c3c5727f14 12 Pin definitions
jasminealice 16:55c3c5727f14 13 *----------------------------------------------------------------------------*/
jasminealice 17:b7b5f40cebff 14 DigitalOut Track(p20); // train track
jasminealice 17:b7b5f40cebff 15
jasminealice 23:bb57966cb776 16 DigitalOut myled1(LED1), myled2(LED2), myled3(LED3), myled4(LED4);
jasminealice 23:bb57966cb776 17 DigitalOut externalLed1(p15), externalLed2(p16), externalLed3(p17), externalLed4(p18);
KwamsC 14:a5fd98a957e6 18 TextLCD lcd(p22, p21, p23, p24, p25, p26); // lcd
KwamsC 14:a5fd98a957e6 19
jasminealice 23:bb57966cb776 20 DigitalIn sw1(p29), sw2(p30), sw3(p11), sw4(p12);
jasminealice 21:31647d80614f 21
jasminealice 23:bb57966cb776 22 InterruptIn int0(p13), int1(p14);
jasminealice 22:c024b20a0e2d 23 I2C i2c(p28, p27);
jasminealice 18:f5824ba95892 24 MCP23017 *mcp;
jasminealice 17:b7b5f40cebff 25
jasminealice 25:90f7a34c253a 26 //DigitalOut en(p6);
jasminealice 25:90f7a34c253a 27
jasminealice 17:b7b5f40cebff 28 /*----------------------------------------------------------------------------
jasminealice 17:b7b5f40cebff 29 Addresses
jasminealice 17:b7b5f40cebff 30 *----------------------------------------------------------------------------*/
jasminealice 21:31647d80614f 31 const unsigned int DCCaddress_silver = 0x01;
jasminealice 21:31647d80614f 32 const unsigned int DCCaddress_red = 0x03;
jasminealice 17:b7b5f40cebff 33 const unsigned int DCCaddress_switch = 0x06;
KwamsC 14:a5fd98a957e6 34
KwamsC 14:a5fd98a957e6 35 /*----------------------------------------------------------------------------
KwamsC 14:a5fd98a957e6 36 Train movement
KwamsC 14:a5fd98a957e6 37 *----------------------------------------------------------------------------*/
KwamsC 14:a5fd98a957e6 38 //move backwards/reverse
KwamsC 14:a5fd98a957e6 39
jasminealice 15:8d96f7a06103 40 //speed dial forward
KwamsC 26:f5e71308a13e 41 const unsigned int slow_speed = 0x73; //step 4
jasminealice 18:f5824ba95892 42 //const unsigned int DCCinst_step6 = 0x68; //step 6 1/4 speed
KwamsC 26:f5e71308a13e 43 const unsigned int normal_speed = 0x78; //step 13 1/2 speed
KwamsC 26:f5e71308a13e 44
jasminealice 17:b7b5f40cebff 45 const unsigned int DCCinst_switch1 = 0x81; //Activate switch1
jasminealice 17:b7b5f40cebff 46 const unsigned int DCCinst_switch2 = 0x82; //Activate switch2
jasminealice 17:b7b5f40cebff 47 const unsigned int DCCinst_switch3 = 0x84; //Activate switch3
jasminealice 17:b7b5f40cebff 48 const unsigned int DCCinst_switch4 = 0x88; //Activate switch4
KwamsC 14:a5fd98a957e6 49 //stop
KwamsC 26:f5e71308a13e 50 const unsigned int stop = 0x40; //forward and stop 01100000
KwamsC 10:cda57976225f 51
jasminealice 25:90f7a34c253a 52 static const int cRight[] = {6,7,8};
jasminealice 25:90f7a34c253a 53 vector<int> C_right (cRight, cRight + sizeof(cRight) / sizeof(cRight[0]) );
jasminealice 25:90f7a34c253a 54
jasminealice 25:90f7a34c253a 55 static const int cLeft[] = {0,1,2,12,13};
jasminealice 25:90f7a34c253a 56 vector<int> C_left (cLeft, cLeft + sizeof(cLeft) / sizeof(cLeft[0]) );
jasminealice 25:90f7a34c253a 57
KwamsC 26:f5e71308a13e 58 static const int junction39[] = {3,9};
KwamsC 26:f5e71308a13e 59 vector<int> junction_39 (junction39, junction39 + sizeof(junction39) / sizeof(junction39[0]) );
KwamsC 26:f5e71308a13e 60
KwamsC 26:f5e71308a13e 61 static const int junction511[] = {5,11};
KwamsC 26:f5e71308a13e 62 vector<int> junction_511 (junction511, junction511 + sizeof(junction511) / sizeof(junction511[0]) );
KwamsC 26:f5e71308a13e 63
KwamsC 26:f5e71308a13e 64 int redStartVal = 12;
KwamsC 26:f5e71308a13e 65 int silverStartVal = 2;
KwamsC 26:f5e71308a13e 66
jasminealice 17:b7b5f40cebff 67 /*----------------------------------------------------------------------------
jasminealice 17:b7b5f40cebff 68 Function definitions
jasminealice 17:b7b5f40cebff 69 *----------------------------------------------------------------------------*/
jasminealice 17:b7b5f40cebff 70 bool readSwitch(DigitalIn theSwitch);
jasminealice 23:bb57966cb776 71 int convertHextoDec(int pos, int intnr);
KwamsC 24:418711ed8c52 72 void checkDetector(int inter);
jasminealice 22:c024b20a0e2d 73 void init_mcp();
jasminealice 23:bb57966cb776 74 void init_interrupt();
KwamsC 24:418711ed8c52 75 void init_trains();
KwamsC 24:418711ed8c52 76 void executeCase(int pos);
jasminealice 23:bb57966cb776 77 Train& assignTrain(int pos);
KwamsC 10:cda57976225f 78
jasminealice 21:31647d80614f 79 //Trains
KwamsC 26:f5e71308a13e 80 Train redTrain(DCCaddress_red, normal_speed, redStartVal);
KwamsC 26:f5e71308a13e 81 Train silverTrain(DCCaddress_silver,normal_speed, silverStartVal);
jasminealice 21:31647d80614f 82 //Switches
jasminealice 21:31647d80614f 83 Switch switch1(DCCaddress_switch,DCCinst_switch1);
KwamsC 24:418711ed8c52 84 Switch switch2(DCCaddress_switch,DCCinst_switch2);
jasminealice 21:31647d80614f 85 Switch switch3(DCCaddress_switch,DCCinst_switch3);
jasminealice 21:31647d80614f 86 Switch switch4(DCCaddress_switch,DCCinst_switch4);
jasminealice 21:31647d80614f 87 //Detectors
jasminealice 23:bb57966cb776 88 Detector dect(false);
jasminealice 21:31647d80614f 89
jasminealice 16:55c3c5727f14 90 /*----------------------------------------------------------------------------
jasminealice 16:55c3c5727f14 91 Main
jasminealice 16:55c3c5727f14 92 *----------------------------------------------------------------------------*/
jasminealice 16:55c3c5727f14 93 int main() {
jasminealice 22:c024b20a0e2d 94 lcd.printf("Start journey");
jasminealice 22:c024b20a0e2d 95 init_mcp();
jasminealice 23:bb57966cb776 96 init_interrupt();
KwamsC 24:418711ed8c52 97 init_trains();
jasminealice 21:31647d80614f 98 while(1){
jasminealice 23:bb57966cb776 99 redTrain.sendCommand();
jasminealice 23:bb57966cb776 100 silverTrain.sendCommand();
jasminealice 22:c024b20a0e2d 101
jasminealice 21:31647d80614f 102 if(!readSwitch(sw3)){ //Change speed
jasminealice 23:bb57966cb776 103 lcd.printf("Go forward");
KwamsC 26:f5e71308a13e 104 redTrain.changeSpeed(normal_speed);
KwamsC 26:f5e71308a13e 105 silverTrain.changeSpeed(normal_speed);
jasminealice 22:c024b20a0e2d 106 }
jasminealice 23:bb57966cb776 107
KwamsC 24:418711ed8c52 108 if(redTrain.checkStop()){ //check if Train stopped
KwamsC 24:418711ed8c52 109 executeCase(redTrain.getPosition());
KwamsC 24:418711ed8c52 110 }
KwamsC 24:418711ed8c52 111 else if(silverTrain.checkStop()){
KwamsC 24:418711ed8c52 112 executeCase(silverTrain.getPosition());
jasminealice 25:90f7a34c253a 113 }
jasminealice 25:90f7a34c253a 114
jasminealice 25:90f7a34c253a 115 if(redTrain.checkStop() && silverTrain.checkStop()) {
jasminealice 25:90f7a34c253a 116 break;
jasminealice 25:90f7a34c253a 117 }
jasminealice 22:c024b20a0e2d 118 }
jasminealice 25:90f7a34c253a 119
jasminealice 25:90f7a34c253a 120 lcd.printf("Shutting down...");
jasminealice 25:90f7a34c253a 121 // en = 0; TO Do : emergency shutdown!!
jasminealice 25:90f7a34c253a 122 //wait(3);
jasminealice 25:90f7a34c253a 123 return 0;
jasminealice 16:55c3c5727f14 124 }
KwamsC 10:cda57976225f 125
KwamsC 14:a5fd98a957e6 126 /*----------------------------------------------------------------------------
KwamsC 14:a5fd98a957e6 127 Functions
KwamsC 14:a5fd98a957e6 128 *----------------------------------------------------------------------------*/
jasminealice 23:bb57966cb776 129 int convertHextoDec(int pos, int intnr){
jasminealice 23:bb57966cb776 130 int newPos;
jasminealice 23:bb57966cb776 131 switch(pos){
jasminealice 23:bb57966cb776 132 case 0xfe:
jasminealice 23:bb57966cb776 133 newPos = 0;
jasminealice 23:bb57966cb776 134 break;
jasminealice 23:bb57966cb776 135 case 0xfd:
jasminealice 23:bb57966cb776 136 newPos = 1;
jasminealice 23:bb57966cb776 137 break;
jasminealice 23:bb57966cb776 138 case 0xfb:
jasminealice 23:bb57966cb776 139 newPos = 2;
jasminealice 23:bb57966cb776 140 break;
jasminealice 23:bb57966cb776 141 case 0xf7:
jasminealice 23:bb57966cb776 142 newPos = 3;
jasminealice 23:bb57966cb776 143 break;
jasminealice 23:bb57966cb776 144 case 0xef:
jasminealice 23:bb57966cb776 145 newPos = 4;
jasminealice 23:bb57966cb776 146 break;
jasminealice 23:bb57966cb776 147 case 0xdf:
jasminealice 23:bb57966cb776 148 newPos = 5;
jasminealice 23:bb57966cb776 149 break;
jasminealice 23:bb57966cb776 150 case 0xbf:
jasminealice 23:bb57966cb776 151 newPos = 6;
jasminealice 23:bb57966cb776 152 break;
jasminealice 23:bb57966cb776 153 case 0x7f:
jasminealice 23:bb57966cb776 154 newPos = 7;
jasminealice 23:bb57966cb776 155 break;
jasminealice 23:bb57966cb776 156 default:
jasminealice 23:bb57966cb776 157 return -1;
jasminealice 23:bb57966cb776 158 }
jasminealice 23:bb57966cb776 159
jasminealice 23:bb57966cb776 160 if(intnr == 1)
jasminealice 23:bb57966cb776 161 newPos += 8;
jasminealice 23:bb57966cb776 162 return newPos;
jasminealice 23:bb57966cb776 163 }
jasminealice 21:31647d80614f 164
jasminealice 23:bb57966cb776 165 Train& assignTrain(int pos){
jasminealice 23:bb57966cb776 166
jasminealice 21:31647d80614f 167 //Check which train got the interupt
jasminealice 21:31647d80614f 168 if(redTrain.checkInterupt(pos)){
jasminealice 21:31647d80614f 169 redTrain.setPosition(pos);
jasminealice 23:bb57966cb776 170 return redTrain;
jasminealice 21:31647d80614f 171 }
jasminealice 21:31647d80614f 172 else if(silverTrain.checkInterupt(pos)){
jasminealice 21:31647d80614f 173 silverTrain.setPosition(pos);
jasminealice 23:bb57966cb776 174 return silverTrain;
jasminealice 25:90f7a34c253a 175 }else{
jasminealice 25:90f7a34c253a 176 lcd.cls();
jasminealice 25:90f7a34c253a 177 lcd.printf("NO TRAIN ASSIGNED");
jasminealice 25:90f7a34c253a 178 silverTrain.Stop();
jasminealice 25:90f7a34c253a 179 redTrain.Stop();
jasminealice 25:90f7a34c253a 180 switch2.switchOff();
jasminealice 25:90f7a34c253a 181
jasminealice 21:31647d80614f 182 }
jasminealice 23:bb57966cb776 183 }
jasminealice 23:bb57966cb776 184
KwamsC 24:418711ed8c52 185 void executeCase(int pos){
KwamsC 24:418711ed8c52 186 Train* currTrain = &assignTrain(pos);
KwamsC 24:418711ed8c52 187
KwamsC 24:418711ed8c52 188 switch(pos){
jasminealice 25:90f7a34c253a 189 case 0:{
KwamsC 24:418711ed8c52 190 lcd.printf("at 0");
KwamsC 26:f5e71308a13e 191 currTrain->changeSpeed(normal_speed);
jasminealice 25:90f7a34c253a 192 break;}
jasminealice 25:90f7a34c253a 193 case 1:{
KwamsC 24:418711ed8c52 194 lcd.printf("at 1");
jasminealice 25:90f7a34c253a 195 //TO DO: Check which train is going and only slow down if it started from 2
jasminealice 25:90f7a34c253a 196 /*if(!currTrain->isClockwise()){
KwamsC 26:f5e71308a13e 197 currTrain->changeSpeed(slow_speed);//Slow down
jasminealice 25:90f7a34c253a 198 lcd.printf("slow down");
jasminealice 25:90f7a34c253a 199 }*/
jasminealice 25:90f7a34c253a 200 //else
KwamsC 26:f5e71308a13e 201 currTrain->changeSpeed(normal_speed);
jasminealice 25:90f7a34c253a 202
jasminealice 25:90f7a34c253a 203 break;}
jasminealice 25:90f7a34c253a 204 case 2:{
KwamsC 24:418711ed8c52 205 /*
jasminealice 25:90f7a34c253a 206 Stop everytime at 2
KwamsC 24:418711ed8c52 207 */
jasminealice 25:90f7a34c253a 208 lcd.printf("at 2");
jasminealice 25:90f7a34c253a 209 dect.showReservation();
jasminealice 25:90f7a34c253a 210 wait(2);
jasminealice 25:90f7a34c253a 211
jasminealice 25:90f7a34c253a 212 if(!dect.checkReservation(4) && !dect.checkReservation(3)){ //Check if 4 or 3 is reserved
jasminealice 25:90f7a34c253a 213 lcd.cls();
jasminealice 25:90f7a34c253a 214 lcd.printf("none is reserved");
jasminealice 25:90f7a34c253a 215 int v1 = rand() % 100; //IF NOT randomize which way to go
jasminealice 25:90f7a34c253a 216 if (v1 < 75){ //0.25 chance to enable the switch2, reserve 3,9
jasminealice 25:90f7a34c253a 217 switch2.switchOn();
KwamsC 26:f5e71308a13e 218 dect.makeReservation(junction_39);
jasminealice 25:90f7a34c253a 219 }
jasminealice 25:90f7a34c253a 220 else { //0.75 chance to disable switch2, reserve 4
jasminealice 25:90f7a34c253a 221 switch2.switchOff();
KwamsC 24:418711ed8c52 222 vector<int> detectors(4);
KwamsC 24:418711ed8c52 223 dect.makeReservation(detectors);
jasminealice 25:90f7a34c253a 224 }
jasminealice 25:90f7a34c253a 225 }else if(dect.checkReservation(4)){ //IF 4 is reserved
jasminealice 25:90f7a34c253a 226 switch2.switchOn(); //Enable switch2, reserve 3,9
jasminealice 25:90f7a34c253a 227 lcd.cls();
jasminealice 25:90f7a34c253a 228 lcd.printf("4 is reserved");
KwamsC 26:f5e71308a13e 229 dect.makeReservation(junction_39);
jasminealice 25:90f7a34c253a 230
jasminealice 25:90f7a34c253a 231 }else{ //IF 3 reserved
jasminealice 25:90f7a34c253a 232 lcd.cls();
jasminealice 25:90f7a34c253a 233 lcd.printf("3 is reserved");
jasminealice 25:90f7a34c253a 234 switch2.switchOff(); //Disable switch2, reserve 4
jasminealice 25:90f7a34c253a 235 vector<int> detectors(4);
jasminealice 25:90f7a34c253a 236 dect.makeReservation(detectors);
jasminealice 25:90f7a34c253a 237 }
KwamsC 26:f5e71308a13e 238 currTrain->changeSpeed(normal_speed); //Go forward
jasminealice 25:90f7a34c253a 239
jasminealice 25:90f7a34c253a 240 break;}
jasminealice 25:90f7a34c253a 241 case 3:{
KwamsC 24:418711ed8c52 242 lcd.printf("at 3");
jasminealice 25:90f7a34c253a 243 dect.showReservation();
jasminealice 25:90f7a34c253a 244
jasminealice 25:90f7a34c253a 245 currTrain->changeDirection(); //change direction
jasminealice 25:90f7a34c253a 246 switch2.switchOff(); //Disable switch2
jasminealice 25:90f7a34c253a 247 dect.clearReservation(C_left); //free nr 0,1,2,12,13
KwamsC 26:f5e71308a13e 248 currTrain->changeSpeed(normal_speed); //go forward
jasminealice 25:90f7a34c253a 249 break;}
jasminealice 25:90f7a34c253a 250 case 4:{
jasminealice 25:90f7a34c253a 251 lcd.printf("At 4");
jasminealice 25:90f7a34c253a 252 dect.showReservation();
jasminealice 25:90f7a34c253a 253 wait(2);
jasminealice 25:90f7a34c253a 254 dect.clearReservation(C_left); //free nr 0,1,2,12,13
jasminealice 25:90f7a34c253a 255 switch3.switchOn(); //Turn on switch3
jasminealice 25:90f7a34c253a 256 if(dect.checkReservation(6)){ //Check if 6 is reserved
jasminealice 25:90f7a34c253a 257 lcd.printf("6 is reserved");
jasminealice 25:90f7a34c253a 258 currTrain->Stop(); //IF yes STOP
KwamsC 24:418711ed8c52 259 }
jasminealice 25:90f7a34c253a 260 else{
jasminealice 25:90f7a34c253a 261 dect.makeReservation(C_right); //else reserve 6,7,8 and go forward
KwamsC 26:f5e71308a13e 262 currTrain->changeSpeed(normal_speed);
KwamsC 24:418711ed8c52 263 }
KwamsC 24:418711ed8c52 264
jasminealice 25:90f7a34c253a 265 dect.showReservation();
jasminealice 25:90f7a34c253a 266 break; }
jasminealice 25:90f7a34c253a 267 case 5:{
KwamsC 24:418711ed8c52 268 lcd.printf("at 5");
jasminealice 25:90f7a34c253a 269 dect.showReservation();
KwamsC 24:418711ed8c52 270
jasminealice 25:90f7a34c253a 271 currTrain->changeDirection(); //change direction
jasminealice 25:90f7a34c253a 272 switch3.switchOn(); //Enable switch3
jasminealice 25:90f7a34c253a 273 dect.clearReservation(C_right); //free nr 6,7,8
KwamsC 26:f5e71308a13e 274 currTrain->changeSpeed(normal_speed); //go forward
jasminealice 25:90f7a34c253a 275
jasminealice 25:90f7a34c253a 276 break;}
jasminealice 25:90f7a34c253a 277 case 6:{
KwamsC 24:418711ed8c52 278 lcd.printf("At 6");
jasminealice 25:90f7a34c253a 279 dect.showReservation();
jasminealice 25:90f7a34c253a 280 wait(2);
KwamsC 24:418711ed8c52 281 if(!currTrain->isClockwise()) //IF CC goes towards 7
KwamsC 24:418711ed8c52 282 {
KwamsC 24:418711ed8c52 283 switch3.switchOn(); //Enable switch3
KwamsC 24:418711ed8c52 284 int arr [3] = {4,5,11};
KwamsC 24:418711ed8c52 285 vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
KwamsC 24:418711ed8c52 286 dect.clearReservation(detectors); //free nr 4,5,11
KwamsC 26:f5e71308a13e 287 currTrain->changeSpeed(normal_speed); //Move forward
KwamsC 24:418711ed8c52 288 }
KwamsC 24:418711ed8c52 289 else{
jasminealice 25:90f7a34c253a 290 if(dect.checkReservation(5)){ //IF 5 is reserved
jasminealice 25:90f7a34c253a 291 currTrain->Stop();
jasminealice 25:90f7a34c253a 292
jasminealice 25:90f7a34c253a 293 }else{ //else 5 reserved
jasminealice 25:90f7a34c253a 294 switch3.switchOff(); //Enable switch3, reserve 4
KwamsC 26:f5e71308a13e 295 dect.makeReservation(junction_511);
KwamsC 26:f5e71308a13e 296 currTrain->changeSpeed(normal_speed);
KwamsC 24:418711ed8c52 297 }
KwamsC 26:f5e71308a13e 298 currTrain->changeSpeed(normal_speed); //Go forward
KwamsC 24:418711ed8c52 299 }
jasminealice 25:90f7a34c253a 300 break;}
jasminealice 25:90f7a34c253a 301 case 7:{
jasminealice 25:90f7a34c253a 302 lcd.printf("At 7");
jasminealice 25:90f7a34c253a 303 dect.showReservation();
jasminealice 25:90f7a34c253a 304 wait(2);
KwamsC 26:f5e71308a13e 305 currTrain->changeSpeed(normal_speed);
jasminealice 25:90f7a34c253a 306 break;}
jasminealice 25:90f7a34c253a 307 case 8:{
jasminealice 25:90f7a34c253a 308 lcd.printf("At 8");
jasminealice 25:90f7a34c253a 309 dect.showReservation();
jasminealice 25:90f7a34c253a 310 wait(2);
KwamsC 24:418711ed8c52 311 if(currTrain->isClockwise()) //IF C goes towards 7
KwamsC 24:418711ed8c52 312 {
KwamsC 24:418711ed8c52 313 switch4.switchOff(); //Disable switch4
KwamsC 26:f5e71308a13e 314 dect.clearReservation(junction_39); //Free 3,9,10
KwamsC 26:f5e71308a13e 315 currTrain->changeSpeed(normal_speed); //Move forward
KwamsC 24:418711ed8c52 316 }
KwamsC 24:418711ed8c52 317 else{ //IF CC
jasminealice 25:90f7a34c253a 318 switch4.switchOff(); //Disable switch4, reserve 10
jasminealice 25:90f7a34c253a 319 vector<int> detectors(10);
jasminealice 25:90f7a34c253a 320 dect.makeReservation(detectors);
KwamsC 26:f5e71308a13e 321 currTrain->changeSpeed(normal_speed); //Go forward
KwamsC 24:418711ed8c52 322 }
jasminealice 25:90f7a34c253a 323 break;}
jasminealice 25:90f7a34c253a 324 case 9:{
jasminealice 25:90f7a34c253a 325 lcd.printf("at 9");
jasminealice 25:90f7a34c253a 326 dect.showReservation();
jasminealice 25:90f7a34c253a 327 wait(2);
jasminealice 25:90f7a34c253a 328 dect.showReservation();
jasminealice 25:90f7a34c253a 329 if(!dect.checkReservation(8)){
jasminealice 25:90f7a34c253a 330 switch4.switchOn(); //Enable switch4
jasminealice 25:90f7a34c253a 331 dect.makeReservation(C_right); //Reserve 6,7,8
KwamsC 26:f5e71308a13e 332 currTrain->changeSpeed(normal_speed); //Go forward
KwamsC 24:418711ed8c52 333
KwamsC 24:418711ed8c52 334 }
jasminealice 25:90f7a34c253a 335 else{
jasminealice 25:90f7a34c253a 336 lcd.printf("from 9->8 : 8 reserved");
jasminealice 25:90f7a34c253a 337 currTrain->Stop();
jasminealice 25:90f7a34c253a 338 }
jasminealice 25:90f7a34c253a 339 break;}
jasminealice 25:90f7a34c253a 340 case 10:{
jasminealice 25:90f7a34c253a 341 lcd.printf("At 10");
jasminealice 25:90f7a34c253a 342 dect.showReservation();
jasminealice 25:90f7a34c253a 343 wait(2);
jasminealice 25:90f7a34c253a 344
jasminealice 25:90f7a34c253a 345 dect.clearReservation(C_right); //free nr 6, 7, 8, 9
jasminealice 25:90f7a34c253a 346 switch1.switchOff(); //Turn off switch1
jasminealice 25:90f7a34c253a 347 if(dect.checkReservation(12)){ //Check if 12 is reserved
jasminealice 25:90f7a34c253a 348 lcd.printf("12resv. STOP");
jasminealice 25:90f7a34c253a 349 currTrain->Stop(); //IF yes STOP
KwamsC 24:418711ed8c52 350 }
jasminealice 25:90f7a34c253a 351 else{
jasminealice 25:90f7a34c253a 352 lcd.printf("12 not reserved");
jasminealice 25:90f7a34c253a 353 dect.makeReservation(C_left);
KwamsC 26:f5e71308a13e 354 currTrain->changeSpeed(normal_speed); //go forward
jasminealice 25:90f7a34c253a 355 }
jasminealice 25:90f7a34c253a 356 break;}
jasminealice 25:90f7a34c253a 357
jasminealice 25:90f7a34c253a 358 case 11:{
jasminealice 25:90f7a34c253a 359 lcd.printf("at 11");
jasminealice 25:90f7a34c253a 360 dect.showReservation();
jasminealice 25:90f7a34c253a 361 wait(2);
jasminealice 25:90f7a34c253a 362
jasminealice 25:90f7a34c253a 363 if(!dect.checkReservation(12)){
jasminealice 25:90f7a34c253a 364
jasminealice 25:90f7a34c253a 365 switch1.switchOn(); //Enable switch1
jasminealice 25:90f7a34c253a 366 dect.makeReservation(C_left); //Reserve 0,1,2, 12, 13
KwamsC 26:f5e71308a13e 367 currTrain->changeSpeed(normal_speed); //go forward
jasminealice 25:90f7a34c253a 368 }
jasminealice 25:90f7a34c253a 369 else{
jasminealice 25:90f7a34c253a 370 currTrain->Stop();
jasminealice 25:90f7a34c253a 371 }
jasminealice 25:90f7a34c253a 372
KwamsC 24:418711ed8c52 373 break;
KwamsC 24:418711ed8c52 374 case 12:
KwamsC 24:418711ed8c52 375 lcd.printf("at 12");
jasminealice 25:90f7a34c253a 376 dect.showReservation();
jasminealice 25:90f7a34c253a 377 wait(2);
jasminealice 25:90f7a34c253a 378
jasminealice 25:90f7a34c253a 379 switch1.switchOff(); //Turn of switch1
jasminealice 25:90f7a34c253a 380 int arr2 [3] = {5,10,11};
jasminealice 25:90f7a34c253a 381 vector<int> detectors2(arr2, arr2 + sizeof(arr2) / sizeof(int));
jasminealice 25:90f7a34c253a 382 dect.clearReservation(detectors2); //free nr 5, 10, 11
KwamsC 26:f5e71308a13e 383 currTrain->changeSpeed(normal_speed); //Move forward
jasminealice 25:90f7a34c253a 384
jasminealice 25:90f7a34c253a 385 break;}
jasminealice 25:90f7a34c253a 386 case 13: {
KwamsC 24:418711ed8c52 387 lcd.printf("at 13");
KwamsC 26:f5e71308a13e 388 currTrain->changeSpeed(normal_speed);
jasminealice 25:90f7a34c253a 389 break;}
jasminealice 25:90f7a34c253a 390 case 14:{
jasminealice 25:90f7a34c253a 391 lcd.printf("at 21");
KwamsC 26:f5e71308a13e 392 currTrain->changeSpeed(normal_speed);
jasminealice 25:90f7a34c253a 393 break;}
jasminealice 25:90f7a34c253a 394 case 15:{
jasminealice 25:90f7a34c253a 395 lcd.printf("at 22");
KwamsC 26:f5e71308a13e 396 currTrain->changeSpeed(normal_speed);
jasminealice 25:90f7a34c253a 397 break;}
jasminealice 25:90f7a34c253a 398 default: {
KwamsC 24:418711ed8c52 399 lcd.printf("Not in a valid case");
KwamsC 26:f5e71308a13e 400 currTrain->Stop();
jasminealice 25:90f7a34c253a 401 break; }
KwamsC 24:418711ed8c52 402 }
KwamsC 24:418711ed8c52 403
KwamsC 24:418711ed8c52 404 mcp->_read(GPIOA);
KwamsC 24:418711ed8c52 405 mcp->_read(GPIOB);
KwamsC 24:418711ed8c52 406 }
KwamsC 24:418711ed8c52 407
KwamsC 24:418711ed8c52 408 void checkDetector(int inter){
jasminealice 23:bb57966cb776 409 lcd.cls();
jasminealice 23:bb57966cb776 410 int pos;
jasminealice 23:bb57966cb776 411 wait_us(100);
jasminealice 23:bb57966cb776 412 if (inter == 0){
jasminealice 23:bb57966cb776 413 //Read from first one
jasminealice 23:bb57966cb776 414 pos = mcp->_read(INTCAPA);
jasminealice 23:bb57966cb776 415 pos = convertHextoDec(pos, 0);
jasminealice 21:31647d80614f 416 }
jasminealice 23:bb57966cb776 417 else if (inter == 1){
jasminealice 23:bb57966cb776 418 //Read from second one
jasminealice 23:bb57966cb776 419 pos = mcp->_read(INTCAPB);
jasminealice 23:bb57966cb776 420 pos = convertHextoDec(pos, 1);
jasminealice 23:bb57966cb776 421 }
jasminealice 23:bb57966cb776 422 else
jasminealice 23:bb57966cb776 423 //PROBLEM
jasminealice 23:bb57966cb776 424 lcd.printf("Fail to detect int");
KwamsC 24:418711ed8c52 425
jasminealice 25:90f7a34c253a 426 executeCase(pos);
jasminealice 15:8d96f7a06103 427 }
jasminealice 15:8d96f7a06103 428
jasminealice 17:b7b5f40cebff 429 bool readSwitch(DigitalIn theSwitch){
jasminealice 17:b7b5f40cebff 430 int val = theSwitch.read();
jasminealice 22:c024b20a0e2d 431 //lcd.printf("%d", val);
jasminealice 16:55c3c5727f14 432 if(val == 1)
jasminealice 16:55c3c5727f14 433 return true;
jasminealice 16:55c3c5727f14 434 else
jasminealice 16:55c3c5727f14 435 return false;
tanjinamicky 13:78a2481fd65b 436 }
tanjinamicky 13:78a2481fd65b 437
jasminealice 22:c024b20a0e2d 438 void init_mcp() {
jasminealice 22:c024b20a0e2d 439 // Initialisation of MCP registers,documentation on registers is availableatNiels/Jacco/Natalia
jasminealice 22:c024b20a0e2d 440 mcp = new MCP23017(i2c, 0x40);
jasminealice 22:c024b20a0e2d 441 mcp->_write(IODIRA, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 442 mcp->_write(IODIRB, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 443 mcp->_write(IPOLA, (unsigned char )0x00);
jasminealice 22:c024b20a0e2d 444 mcp->_write(IPOLB, (unsigned char )0x00);
jasminealice 22:c024b20a0e2d 445 mcp->_write(DEFVALA, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 446 mcp->_write(DEFVALB, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 447 mcp->_write(INTCONA, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 448 mcp->_write(INTCONB, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 449 mcp->_write(IOCONA, (unsigned char )0x2);
jasminealice 22:c024b20a0e2d 450 mcp->_write(IOCONB, (unsigned char )0x2);
jasminealice 22:c024b20a0e2d 451 mcp->_write(GPPUA, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 452 mcp->_write(GPPUB, (unsigned char )0xff);
jasminealice 18:f5824ba95892 453 }
jasminealice 23:bb57966cb776 454 void passZero(){
jasminealice 23:bb57966cb776 455 checkDetector(0);
jasminealice 23:bb57966cb776 456 }
jasminealice 22:c024b20a0e2d 457
jasminealice 23:bb57966cb776 458 void passOne(){
jasminealice 23:bb57966cb776 459 checkDetector(1);
jasminealice 23:bb57966cb776 460 }
jasminealice 23:bb57966cb776 461
jasminealice 23:bb57966cb776 462 void init_interrupt() {
jasminealice 22:c024b20a0e2d 463 // Clear current interrupts
jasminealice 25:90f7a34c253a 464 //en = 1;
jasminealice 22:c024b20a0e2d 465 mcp->_read(GPIOA);
jasminealice 22:c024b20a0e2d 466 mcp->_read(GPIOB);
jasminealice 22:c024b20a0e2d 467 // Register callbacks
jasminealice 23:bb57966cb776 468 int0.fall(&passZero);
jasminealice 23:bb57966cb776 469 int1.fall(&passOne);
jasminealice 22:c024b20a0e2d 470 // Enable interrupts on MCP
jasminealice 22:c024b20a0e2d 471 mcp->_write(GPINTENA, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 472 mcp->_write(GPINTENB, (unsigned char )0xff);// Ready to go!
jasminealice 22:c024b20a0e2d 473 }
KwamsC 24:418711ed8c52 474
KwamsC 24:418711ed8c52 475 void init_trains(){
KwamsC 26:f5e71308a13e 476 redTrain.changeSpeed(stop);
KwamsC 26:f5e71308a13e 477 silverTrain.changeSpeed(stop);
KwamsC 24:418711ed8c52 478
KwamsC 24:418711ed8c52 479 vector<int> res;
KwamsC 24:418711ed8c52 480 res.push_back(2);
jasminealice 25:90f7a34c253a 481 //res.push_back(4);
jasminealice 25:90f7a34c253a 482 dect.makeReservation(res); //Run trains counterclockwise and reserve
KwamsC 24:418711ed8c52 483 vector<int> res2;
KwamsC 24:418711ed8c52 484 res2.push_back(12);
jasminealice 25:90f7a34c253a 485 //res2.push_back(13);
KwamsC 24:418711ed8c52 486 dect.makeReservation(res2);
jasminealice 25:90f7a34c253a 487 dect.showReservation();
jasminealice 25:90f7a34c253a 488 }