Diff: main.cpp
- Revision:
- 21:31647d80614f
- Parent:
- 20:32ba0a5f2d02
- Child:
- 22:c024b20a0e2d
--- a/main.cpp Mon Jun 11 14:50:15 2018 +0000
+++ b/main.cpp Tue Jun 12 15:02:44 2018 +0000
@@ -4,11 +4,9 @@
#include "Train.h"
#include "Switch.h"
#include "Track.h"
-
-#include <ctime>
+#include "Detector.h"
//Board 1
-
/*----------------------------------------------------------------------------
Pin definitions
*----------------------------------------------------------------------------*/
@@ -35,6 +33,7 @@
DigitalIn sw2(p30);
DigitalIn sw3(p11);
DigitalIn sw4(p12);
+
//InterruptIn sw1(p5);
InterruptIn inter0(p13);
InterruptIn inter1(p14);
@@ -43,18 +42,18 @@
/*----------------------------------------------------------------------------
Addresses
*----------------------------------------------------------------------------*/
-const unsigned int DCCaddress_darkRed = 0x01;
-const unsigned int DCCaddress_lightRed = 0x03;
+const unsigned int DCCaddress_silver = 0x01;
+const unsigned int DCCaddress_red = 0x03;
const unsigned int DCCaddress_switch = 0x06;
/*----------------------------------------------------------------------------
Train movement
*----------------------------------------------------------------------------*/
//move backwards/reverse
-//const unsigned int DCCinst_reverse = 0x48; //reverse speed
+const unsigned int DCCinst_reverse = 0x48; //reverse speed
//speed dial forward
-//const unsigned int DCCinst_step2 = 0x72; //step 2
+const unsigned int DCCinst_step2 = 0x72; //step 2
//const unsigned int DCCinst_step4 = 0x73; //step 4
//const unsigned int DCCinst_step6 = 0x68; //step 6 1/4 speed
const unsigned int DCCinst_step13 = 0x78; //step 13 1/2 speed
@@ -76,13 +75,22 @@
/*----------------------------------------------------------------------------
Function definitions
*----------------------------------------------------------------------------*/
-void readVoltage();
bool readDetector(DigitalIn detector);
bool readSwitch(DigitalIn theSwitch);
-//void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count); //send command
void initialize_mcp();
+//Trains
+Train redTrain(DCCaddress_red, DCCinst_step13, 2);
+Train silverTrain(DCCaddress_silver,DCCinst_step13, 12);
+//Switches
+Switch switch1(DCCaddress_switch,DCCinst_switch1);
+//Switch switch2(DCCaddress_switch,DCCinst_switch2);
+Switch switch3(DCCaddress_switch,DCCinst_switch3);
+Switch switch4(DCCaddress_switch,DCCinst_switch4);
+//Detectors
+Detector dect;
+
/*----------------------------------------------------------------------------
Main
*----------------------------------------------------------------------------*/
@@ -91,18 +99,16 @@
sw1.fall(&testInterupt);
inter0.rise(&riseFunction);
inter1.rise(&riseFunction);*/
- Train lightRed(DCCaddress_darkRed, DCCinst_step13);
- //Train darkRed(DCCaddress_darkRed);
- Switch switch1(DCCaddress_switch,DCCinst_switch1);
- //Switch switch2(DCCaddress_switch,DCCinst_switch2);
- Switch switch3(DCCaddress_switch,DCCinst_switch3);
- Switch switch4(DCCaddress_switch,DCCinst_switch4);
+
+ initialize_mcp();
+ int res[2] = {2,4};
+ dect.reserveDetector(res); //Run trains counterclockwise and reserve the
+ int res2[2] = {12,13};
+ dect.reserveDetector(res2);//detectors in front
- while(1){
- if(readSwitch(sw1)){
- //DCC_send_command(DCCaddress_switch,DCCinst_switch3,10); //Make sure to deactivate 2 right after activating it
+ while(1){
+ if(readSwitch(sw1)){ //Control switches
switch1.switchOn();
- //lcd.printf("%d",switch1.switchOn());
lcd.printf("Switch 1 on");
//switch2.switchOn(); // Need to turn it off immediately!!!
switch3.switchOn();
@@ -119,15 +125,23 @@
}
- if(readSwitch(sw2)){
- lightRed.goForward(DCCinst_step13);
+ if(readSwitch(sw2)){ //run train
+ redTrain.goForward();
+ silverTrain.goForward();
}
else
{
- lightRed.Stop(DCCinst_stop);
+ redTrain.Stop();
+ silverTrain.Stop();
}
+ if(!readSwitch(sw3)){ //Change speed
+ if(silverTrain.getSpeed() == DCCinst_step2)
+ silverTrain.changeSpeed(DCCinst_step13);
+ else
+ silverTrain.changeSpeed(DCCinst_step2);
+
}
-
+}
/*lcd.printf("Start the journey");
time_t tstart, tend;
@@ -135,78 +149,172 @@
int data = mcp->readRegister(0x12);
lcd.printf("%d", data);
wait(2);
-
- while(1){
-
- wait(0.2);
- if(readSwitch(sw1)){
- //lcd.cls();
- //lcd.printf("Forward");
- tstart = time(0);
- DCC_send_command(DCCaddress_darkRed,DCCinst_step13,10); // forward half speed train address 3
- tend = time(0);
- lcd.cls();
- lcd.printf("Time to send command:");
- lcd.printf("%f", difftime(tend, tstart));
-
- }else{
- //lcd.cls();
- //lcd.printf("Stop");
- tstart = time(0);
- DCC_send_command(DCCaddress_darkRed,DCCinst_stop,10); // forward half speed train address 3
- tend = time(0);
- lcd.cls();
- lcd.printf("Time to send command:");
- lcd.printf("%f", difftime(tend, tstart));
- }
-
- if(readSwitch(sw2)){
-
- DCC_send_command(DCCaddress_switch,DCCinst_switch1,10);
- myled1 = 1;
- externalLed1 = 1;
- DCC_send_command(DCCaddress_switch,DCCinst_deactive_switch,10);
- myled1 = 0;
- externalLed1 = 0;
-
- DCC_send_command(DCCaddress_switch,DCCinst_switch2,10); //Make sure to deactivate 2 right after activating it
- myled2 = 1;
- externalLed2 = 1;
- DCC_send_command(DCCaddress_switch,DCCinst_deactive_switch,10);
- myled2 = 0;
- externalLed2 = 0;
-
- DCC_send_command(DCCaddress_switch,DCCinst_switch3,10);
- myled3 = 1;
- externalLed3 = 1;
- DCC_send_command(DCCaddress_switch,DCCinst_deactive_switch,10);
- myled3 = 0;
- externalLed3 = 0;
-
- DCC_send_command(DCCaddress_switch,DCCinst_switch4,10);
- myled4 = 1;
- externalLed4 = 1;
- DCC_send_command(DCCaddress_switch,DCCinst_deactive_switch,10);
- myled4 = 0;
- externalLed4 = 0;
-
- }
- }*/
+ */
}
/*----------------------------------------------------------------------------
Functions
*----------------------------------------------------------------------------*/
-/*
-void testInterupt(){
+
+bool testInterupt(){
+ int pos = mcp->readRegister(0x12);
lcd.cls();
- myled = 1;
- lcd.printf("In interupt function");
- lcd.printf("%d", sw1.read());
- myled4 = 0;
+ //Check which train got the interupt
+ Train *temptrain;
+ if(redTrain.checkInterupt(pos)){
+ redTrain.setPosition(pos);
+ temptrain = &redTrain;
+ }
+ else if(silverTrain.checkInterupt(pos)){
+ silverTrain.setPosition(pos);
+ temptrain = &silverTrain;
+ }
+ else{
+ //WE HAVE A PROBLEM
+ lcd.printf("WRONG DETECTOR DETECTED");
+ return false;
+ }
+
+ switch(pos){
+ case 0:
+ case 1:
+ case 2:
+ //IF Clock 2->1
+ //Disable Switch2
+ //Free 3,4,9
+ //Move forward
+ //IF CC
+ //Check if 4 or 3 is reserved
+ //IF NOT randomize which way to go
+ //0.3 chance to enable the switch2, reserve 3,9 and go
+ //0.7 chance to disable switch2, reserve 4 and go
+ //IF 4 is reserved
+ //Enable switch2, reserve 3,9 and go
+ //IF 3 reserved
+ //Disable switch2, reserve 4 and go
+ case 3:
+ //Clock: Goes from 3 to 2
+ //Enable switch2
+ //Reserve 0,1,2, 12, 13
+ //Go forward
+ //Other Clock: Goes from 3->9
+ //disable switch2
+ //free 0,1,2,12,13
+ //Go forward
+ case 4:
+ //IF CC : goes towards 6
+ //free nr 0,1,2,12, 13
+ //Turn of switch3
+ //Check if 6 is reserved
+ //IF yes STOP
+ //else reserve 6,7,8 and go forward
+ //IF Clock goes towards 2
+ //free nr 5,6, 7, 8
+ //Turn of switch2
+ //Check if 2 is reserved
+ //IF yes STOP
+ //else reserve 12,13,0,1,2 go forward
+
+ case 5:
+ //Clock: Goes from 5->6
+ //Enable switch3
+ //Reserve 6,7,8
+ //Go forward
+ //Other Clock: Goes from 5->11
+ //disable switch3
+ //free 6,7,8
+ //Go forward
+ case 6:
+ //IF CC
+ //Disable switch3
+ //Free 4,5,11
+ //Move forward
+ //IF Clock
+ //Check if 4 or 5 is reserved
+ //IF NOT randomize which way to go
+ //0.3 chance to enable the switch3, reserve 5,11 and go
+ //0.7 chance to disable switch3, reserve 4 and go
+ //IF 4 is reserved
+ //Enable switch3, reserve 5,11 and go
+ //IF 5 reserved
+ //Disable switch3, reserve 4 and go
+
+
+ case 7:
+ case 8:
+ //IF Clock 8->7
+ //Disable switch4
+ //Free 3,9,10
+ //Move forward
+ //IF CC
+ //Check if 9 or 10 is reserved
+ //IF NOT randomize which way to go
+ //0.3 chance to enable the switch4, reserve 3,9 and go
+ //0.7 chance to disable switch4, reserve 10 and go
+ //IF 10 is reserved
+ //Enable switch4, reserve 3,9 and go
+ //IF 9 reserved
+ //Disable switch4, reserve 10 and go
+ case 9:
+ //Clock: Goes from 9 to 8
+ //Enable switch4
+ //Reserve 6,7,8
+ //Go forward
+ //Other Clock: Goes from 9->3
+ //disable switch4
+ //free 6,7,8
+ //Go forward
+ case 10:
+ //IF CC
+ //free nr 6,7,8,9
+ //Turn off switch1
+ //Check if 12 is reserved
+ //IF yes STOP
+ //else reserve 12,13,0,1,2 and go forward
+ //IF Clock
+ //Free nr 0,1,2,11, 12, 13
+ //Turn off switch4
+ //Check if 8 is reserved
+ //IF yes STOP
+ //else reserve 6,7,8 go forward
+ case 11:
+ //Clock: Goes from 11 to 12
+ //Enable switch1
+ //Reserve 0,1,2, 12, 13
+ //Go forward
+ //Other Clock: Goes from 11->5
+ //disable switch1
+ //free 0,1,2,12,13
+ //Go forward
+ case 12:
+ //IF CC: 12->13
+ //Disable switch1
+ //Free 5,10,11
+ //Move forward
+ //IF Clock
+ //Check if 11 or 10 is reserved
+ //IF NOT randomize which way to go
+ //0.3 chance to enable switch1, reserve 5,11 and go
+ //0.7 chance to disable switch1, reserve 10 and go
+ //IF 10 is reserved
+ //Enable switch1, reserve 5,11 and go
+ //IF 11 reserved
+ //Disable switch1,reserve 10 and go
+ case 13:
+
+ lcd.printf("In case ");
+ lcd.printf("%d", pos);
+ break;
+ default:
+ lcd.printf("Not in a valid case");
+ break;
+ }
+
+ return true;
}
+/*
void testInterupt2(){
lcd.cls();
myled = 0;
@@ -246,13 +354,6 @@
return false;
}
-void readVoltage(){
- /*float f = Ain.read(); //Read voltage value
- float Vin = f *3.3;
- lcd.printf("%.2f", Vin);
- wait(0.1);
- lcd.printf("\n");*/
-}
void initialize_mcp(){
mcp = new MCP23017(p28, p27, 0x40);
mcp->reset();
@@ -271,42 +372,3 @@
mcp->writeRegister(0x0c, (unsigned char )0x00);
mcp->writeRegister(0x0d, (unsigned char )0x00);
}
-
-/*
-void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count)
-{
- unsigned __int64 command = 0x0000000000000000; // __int64 is the 64-bit integer type
- unsigned __int64 temp_command = 0x0000000000000000;
- unsigned __int64 prefix = 0x3FFF; // 14 "1" bits needed at start
- unsigned int error = 0x00; //error byte
- //calculate error detection byte with xor
- error = address ^ inst;
- //combine packet bits in basic DCC format
- command = (prefix<<28)|(address<<19)|(inst<<10)|((error)<<1)|0x01;
- //printf("\n\r %llx \n\r",command);
- int i=0;
-//repeat DCC command lots of times
- while(i < repeat_count) {
- temp_command = command;
-//loops through packet bits encoding and sending out digital pulses for a DCC command
- for (int j=0; j<64; j++) {
- if((temp_command&0x8000000000000000)==0) { //test packet bit
- //send data for a "0" bit
- Track=0;
- wait_us(100);
- Track=1;
- wait_us(100);
- } else {
- //send data for a "1"bit
- Track=0;
- wait_us(58);
- Track=1;
- wait_us(58);
- }
- // next bit in packet
- temp_command = temp_command<<1;
- }
- i++;
- }
-}
-*/
\ No newline at end of file
Jasmine Karlsson
