Jasmine Karlsson
/
train_rail
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Diff: main.cpp
- Revision:
- 24:418711ed8c52
- Parent:
- 23:bb57966cb776
- Child:
- 25:90f7a34c253a
--- a/main.cpp Wed Jun 13 20:50:26 2018 +0000
+++ b/main.cpp Thu Jun 14 14:47:16 2018 +0000
@@ -5,7 +5,7 @@
#include "Switch.h"
#include "Track.h"
#include "Detector.h"
-#include "MCP23017.h"
+#include <cstdlib>
//Board 1
/*----------------------------------------------------------------------------
@@ -39,7 +39,7 @@
//speed dial forward
const unsigned int DCCinst_step2 = 0x72; //step 2
-//const unsigned int DCCinst_step4 = 0x73; //step 4
+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
//const unsigned int DCCinst_step20 = 0x75; //step 20 3/4 speed
@@ -57,9 +57,11 @@
*----------------------------------------------------------------------------*/
bool readSwitch(DigitalIn theSwitch);
int convertHextoDec(int pos, int intnr);
-bool checkDetector(int inter);
+void checkDetector(int inter);
void init_mcp();
void init_interrupt();
+void init_trains();
+void executeCase(int pos);
Train& assignTrain(int pos);
//Trains
@@ -67,7 +69,7 @@
Train silverTrain(DCCaddress_silver,DCCinst_step13, 2);
//Switches
Switch switch1(DCCaddress_switch,DCCinst_switch1);
-//Switch switch2(DCCaddress_switch,DCCinst_switch2);
+Switch switch2(DCCaddress_switch,DCCinst_switch2);
Switch switch3(DCCaddress_switch,DCCinst_switch3);
Switch switch4(DCCaddress_switch,DCCinst_switch4);
//Detectors
@@ -97,59 +99,27 @@
lcd.printf("Start journey");
init_mcp();
init_interrupt();
-
-
- vector<int> res;
- res.push_back(2);
- res.push_back(4);
- dect.reserveDetector(res); //Run trains counterclockwise and reserve the
- vector<int> res2;
- res2.push_back(12);
- res2.push_back(6);
- dect.reserveDetector(res2);//detectors in front
- redTrain.Stop();
- silverTrain.Stop();
-
+ init_trains();
+ wait(2);
while(1){
redTrain.sendCommand();
silverTrain.sendCommand();
- /*if(readSwitch(sw1)){ //Control switches
- switch1.switchOn();
- lcd.printf("Switch 1 on");
- //switch2.switchOn(); // Need to turn it off immediately!!!
- switch3.switchOn();
- switch4.switchOn();
-
- }*/
- /*else{
- //DCC_send_command(DCCaddress_switch,DCCinst_deactive_switch,10);
- switch1.switchOff();
- //switch2.switchOff();
- switch3.switchOff();
- switch4.switchOff();
- lcd.printf("Switch 1 off");
-
- }*/
-
- /*if(readSwitch(sw2)){ //run train
- redTrain.goForward();
- silverTrain.goForward();
- }
- else
- {
- redTrain.Stop();
- silverTrain.Stop();
- }*/
if(!readSwitch(sw3)){ //Change speed
lcd.printf("Go forward");
redTrain.changeSpeed(DCCinst_step13);
silverTrain.changeSpeed(DCCinst_step13);
-
}
- //TODO: Check if train is not moving and then call function checkdetector
-
+ if(redTrain.checkStop()){ //check if Train stopped
+ lcd.cls();
+ lcd.printf("in stop");
+ wait(2);
+ executeCase(redTrain.getPosition());
+ }
+ else if(silverTrain.checkStop()){
+ executeCase(silverTrain.getPosition());
+ }
}
}
@@ -204,13 +174,396 @@
else if(silverTrain.checkInterupt(pos)){
silverTrain.setPosition(pos);
//lcd.cls();
- //lcd.printf("Silver train!");
+ lcd.printf("Silver train!");
return silverTrain;
}
-
}
-bool checkDetector(int inter){
+void executeCase(int pos){
+ Train* currTrain = &assignTrain(pos);
+
+ switch(pos){
+ case 0:
+ lcd.printf("at 0");
+ break;
+ case 1:
+ lcd.printf("at 1");
+ currTrain->changeSpeed(DCCinst_step4);//Slow down
+ lcd.printf("slow down");
+ break;
+ case 2:
+ /*
+ Stop everytime at 2
+
+
+
+ */
+
+ lcd.printf("at 2");
+ if(currTrain->isClockwise()) //IF C goes towards 1
+ {
+ switch2.switchOff(); //Disable switch4
+ int arr [3] = {3,4,9};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.clearReservation(detectors); //Free 3,4,9
+ currTrain->changeSpeed(DCCinst_step13); //Move forward
+ }
+ else{ //IF CC
+ if(!dect.checkReservation(4) && !dect.checkReservation(3)){ //Check if 4 or 3 is reserved
+ int v1 = rand() % 100; //IF NOT randomize which way to go
+ if (v1 < 25){ //0.25 chance to enable the switch2, reserve 3,9
+ switch2.switchOn();
+ int arr [2] = {3,9};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors);
+ }
+ else { //0.75 chance to disable switch2, reserve 4
+ switch2.switchOff();
+ vector<int> detectors(4);
+ dect.makeReservation(detectors);
+ }
+
+ }else if(dect.checkReservation(10)){ //IF 4 is reserved
+ switch2.switchOn(); //Enable switch2, reserve 3,9
+ int arr [2] = {3,9};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors);
+
+ }else{ //IF 3 reserved
+ switch2.switchOff(); //Disable switch2, reserve 4
+ vector<int> detectors(4);
+ dect.makeReservation(detectors);
+ }
+
+ currTrain->changeSpeed(DCCinst_step13); //Go forward
+ }
+ break;
+ case 3:
+ lcd.printf("at 3");
+ if(currTrain->isClockwise()){ //Clock: Goes from 3 to 2
+ if(!dect.checkReservation(2)){
+ switch2.switchOn(); //Enable switch2
+ int arr [5] = {0,1,2,12,13};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors); //Reserve 0,1,2, 12, 13
+ currTrain->changeSpeed(DCCinst_step13); //go forward
+ }
+ else{
+ currTrain->Stop();
+ }
+ }
+ else{ //Other Clock: Goes from 3->9
+ currTrain->changeDirection(); //change direction
+ switch2.switchOff(); //Disable switch2
+ int arr [5] = {0,1,2,12,13};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.clearReservation(detectors); //free nr 0,1,2,12,13
+ currTrain->changeSpeed(DCCinst_step13); //go forward
+ }
+
+ break;
+ case 4:
+ lcd.printf("At 4");
+ if(currTrain->isClockwise()) //IF Clock goes towards 2
+ {
+ int arr [4] = {5,6,7,8};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.clearReservation(detectors); //free nr 5,6, 7, 8
+ switch2.switchOff(); //Turn of switch2
+ if(dect.checkReservation(2)){ //Check if 2 is reserved
+ currTrain->Stop(); //IF yes STOP
+ }
+ else{
+ int arr [5] = {0,1,2,12,13};//else reserve 12,13,0,1,2
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors);
+ currTrain->changeSpeed(DCCinst_step13); //go forward
+ }
+ }
+ else{ //IF CC :goes towards 6
+ int arr [5] = {0,1,2,12,13};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.clearReservation(detectors); //free nr 0,1,2,12,13
+ switch3.switchOn(); //Turn on switch3
+ dect.showReservation();
+ wait(2);
+ if(dect.checkReservation(6)){ //Check if 6 is reserved
+ lcd.printf("stop, 6 is reserved");
+ currTrain->Stop(); //IF yes STOP
+ lcd.cls();
+ lcd.printf("Currtrain: ");
+ lcd.printf("%d", currTrain->getSpeed());
+ lcd.printf("\n Silver: ");
+ lcd.printf("%d", silverTrain.getSpeed());
+
+ }
+ else{
+ int arr [3] = {6,7,8};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors); //else reserve 6,7,8 and go forward
+ currTrain->changeSpeed(DCCinst_step13);
+ }
+
+ }
+ break;
+ case 5:
+ lcd.printf("at 5");
+
+ if(!currTrain->isClockwise()){ //CC: Goes from 5 to 6
+ if(!dect.checkReservation(2)){
+ switch3.switchOff(); //Disable switch3
+ int arr [3] = {6,7,8};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors); //Reserve 6,7,8
+ currTrain->changeSpeed(DCCinst_step13); //go forward
+ }
+ else{
+ currTrain->Stop();
+ }
+ }
+ else{ //Other Clock: Goes from 5->11
+ currTrain->changeDirection(); //change direction
+ switch3.switchOn(); //Enable switch3
+ int arr [3] = {6,7,8};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.clearReservation(detectors); //free nr 6,7,8
+ currTrain->changeSpeed(DCCinst_step13); //go forward
+ }
+ break;
+ case 6:
+ lcd.printf("At 6");
+ if(!currTrain->isClockwise()) //IF CC goes towards 7
+ {
+ switch3.switchOn(); //Enable switch3
+ int arr [3] = {4,5,11};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.clearReservation(detectors); //free nr 4,5,11
+ currTrain->changeSpeed(DCCinst_step13); //Move forward
+ }
+ else{
+ if(!dect.checkReservation(4) && !dect.checkReservation(5)){ //Check if 4 or 5 is reserved
+ int v1 = rand() % 100; //IF NOT randomize which way to go
+ if (v1 < 25){ //0.25 chance to disable the switch3, reserve 5,11
+ switch3.switchOff();
+ int arr [2] = {5,11};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors);
+ }
+ else { //0.75 chance to Enable switch3, reserve 4
+ switch3.switchOn();
+ vector<int> detectors(4);
+ dect.makeReservation(detectors);
+ }
+
+ }else if(dect.checkReservation(4)){ //IF 4 is reserved
+ switch3.switchOff(); //Disable switch3, reserve 5,11
+ int arr [2] = {5, 11};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors);
+
+ }else{ //IF 5 reserved
+ switch3.switchOn(); //Enable switch3, reserve 4
+ vector<int> detectors(4);
+ dect.makeReservation(detectors);
+ }
+
+ currTrain->changeSpeed(DCCinst_step13); //Go forward
+ }
+ break;
+ case 7:
+ lcd.printf("At 7yhyh");
+ break;
+ case 8:
+ lcd.printf("At 8");
+ if(currTrain->isClockwise()) //IF C goes towards 7
+ {
+ switch4.switchOff(); //Disable switch4
+ int arr [3] = {3,9,10};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.clearReservation(detectors); //Free 3,9,10
+ currTrain->changeSpeed(DCCinst_step13); //Move forward
+ }
+ else{ //IF CC
+ if(!dect.checkReservation(9) && !dect.checkReservation(10)){ //Check if 9 or 10 is reserved
+ int v1 = rand() % 100; //IF NOT randomize which way to go
+ if (v1 < 25){ //0.25 chance to enable the switch4, reserve 3,9
+ switch4.switchOn();
+ int arr [2] = {3,9};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors);
+ }
+ else { //0.75 chance to disable switch4, reserve 10
+ switch4.switchOff();
+ vector<int> detectors(10);
+ dect.makeReservation(detectors);
+ }
+
+ }else if(dect.checkReservation(10)){ //IF 10 is reserved
+ switch4.switchOn(); //Enable switch4, reserve 3,9
+ int arr [2] = {3,9};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors);
+
+ }else{ //IF 9 reserved
+ switch4.switchOff(); //Disable switch4, reserve 10
+ vector<int> detectors(10);
+ dect.makeReservation(detectors);
+ }
+
+ currTrain->changeSpeed(DCCinst_step13); //Go forward
+ }
+ break;
+ case 9:
+ lcd.printf("at 9");
+ if(currTrain->isClockwise()){ //Clock: Goes from 9 to 8
+ if(!dect.checkReservation(8)){
+ switch4.switchOn(); //Enable switch4
+ int arr [3] = {6,7,8};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors); //Reserve 6,7,8
+ currTrain->changeSpeed(DCCinst_step13); //Go forward
+
+ }
+ else{
+ currTrain->Stop();
+ }
+ }
+ else{ //Other Clock: Goes from 9->3
+ currTrain->changeDirection(); //change direction
+ switch4.switchOff(); //Disable switch4
+ int arr [3] = {6,7,8};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.clearReservation(detectors); //free nr 6,7,8
+ currTrain->changeSpeed(DCCinst_step13); //Go forward
+ }
+ break;
+ case 10:
+ lcd.printf("At 10");
+ if(!currTrain->isClockwise()) //IF CC goes towards 12
+ {
+ int arr [4] = {6,7,8,9};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.clearReservation(detectors); //free nr 6, 7, 8, 9
+ switch1.switchOff(); //Turn of switch1
+ if(dect.checkReservation(12)){ //Check if 12 is reserved
+ currTrain->Stop(); //IF yes STOP
+ }
+ else{
+ int arr [5] = {0,1,2,12,13};//else reserve 12,13,0,1,2
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors);
+ currTrain->changeSpeed(DCCinst_step13); //go forward
+ }
+ }
+
+ else{ //IF C :goes towards 8
+ int arr [5] = {0,1,2,12,13};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.clearReservation(detectors); //free nr 0,1,2,12,13
+ switch4.switchOff(); //Turn off switch4
+
+ if(dect.checkReservation(8)){ //Check if 8 is reserved
+ currTrain->Stop(); //IF yes STOP
+ }
+ else{
+ int arr [3] = {6,7,8};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors); //else reserve 6,7,8 and go forward
+ currTrain->changeSpeed(DCCinst_step13);
+ }
+ }
+ break;
+
+ case 11:
+ lcd.printf("at 11");
+
+ if(currTrain->isClockwise()){ //Clockwise: Goes from 11 to 5
+ currTrain->changeDirection(); //change direction
+ switch1.switchOff(); //Disable switch1
+ int arr [5] = {0,1,2,12,13};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.clearReservation(detectors); //free 0,1,2,12,13
+ currTrain->changeSpeed(DCCinst_step13); //go forward
+
+ }
+ else{ //Other Clock: Goes from 11->12
+ if(!dect.checkReservation(8)){
+
+ switch1.switchOn(); //Enable switch1
+ int arr [5] = {0,1,2, 12,13};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors); //Reserve 0,1,2, 12, 13
+ currTrain->changeSpeed(DCCinst_step13); //go forward
+ }
+ else{
+ currTrain->Stop();
+ }
+ }
+ break;
+ case 12:
+ lcd.printf("at 12");
+ if(!currTrain->isClockwise()) //IF CC goes towards 13
+ {
+ switch1.switchOff(); //Turn of switch1
+ int arr [3] = {5,10,11};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.clearReservation(detectors); //free nr 5, 10, 11
+ currTrain->changeSpeed(DCCinst_step13); //Move forward
+ }
+ else{ //if C
+ if(!dect.checkReservation(10) && !dect.checkReservation(11)){ //Check if 10 or 11 is reserved
+ int v1 = rand() % 100; //IF NOT randomize which way to go
+ if (v1 < 25){ //0.25 chance to enable the switch1, reserve 5,11
+ switch1.switchOn();
+ int arr [2] = {5,11};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors);
+ }
+ else { //0.75 chance to disable switch1, reserve 10
+ switch1.switchOff();
+ vector<int> detectors(10);
+ dect.makeReservation(detectors);
+ }
+
+ }else if(dect.checkReservation(10)){ //IF 10 is reserved
+ switch1.switchOn(); //Enable switch1, reserve 5,11
+ int arr [2] = {5, 11};
+ vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
+ dect.makeReservation(detectors);
+
+ }else{ //IF 11 reserved
+ switch1.switchOff(); //Disable switch1, reserve 10
+ vector<int> detectors(10);
+ dect.makeReservation(detectors);
+ }
+
+ currTrain->changeSpeed(DCCinst_step13); //Go forward
+ }
+ break;
+
+
+ case 13:
+ lcd.printf("at 13");
+ break;
+ case 14:
+ lcd.printf("at 21");
+ break;
+ case 15:
+ lcd.printf("at 22");
+
+ //lcd.printf("In case ");
+ //lcd.printf("%d", pos);
+ break;
+ default:
+ lcd.printf("Not in a valid case");
+ break;
+ }
+
+ mcp->_read(GPIOA);
+ mcp->_read(GPIOB);
+}
+
+void checkDetector(int inter){
lcd.cls();
int pos;
wait_us(100);
@@ -227,177 +580,9 @@
else
//PROBLEM
lcd.printf("Fail to detect int");
-
- Train currTrain = assignTrain(pos);
+
+ executeCase(pos);
- switch(pos){
- case 0:
- case 1:
- //Slow down
- 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:
- lcd.printf("At 4");
- if(currTrain.isClockwise()) //IF Clock goes towards 2
- {
- int arr [4] = {5,6,7,8};
- vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
- dect.clearReservation(detectors); //free nr 5,6, 7, 8
- //switch2.switchOff(); //Turn of switch2
- if(dect.checkReservation(2)){ //Check if 2 is reserved
- currTrain.Stop(); //IF yes STOP
- }
- else{
- int arr [5] = {0,1,2,12,13};//else reserve 12,13,0,1,2
- vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
- dect.reserveDetector(detectors);
- currTrain.changeSpeed(DCCinst_step13); //go forward
- }
- }
- else{ //IF CC :goes towards 6
- int arr [5] = {0,1,2,12,13};
- vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
- dect.clearReservation(detectors); //free nr 0,1,2,12,13
- switch3.switchOn(); //Turn on switch3
-
- if(dect.checkReservation(6)){ //Check if 6 is reserved
- lcd.printf("stop");
- currTrain.Stop(); //IF yes STOP
- lcd.cls();
- lcd.printf("Currtrain: ");
- lcd.printf("%d", currTrain.getSpeed());
- lcd.printf("\n Redtrain: ");
- lcd.printf("%d", redTrain.getSpeed());
-
- }
- else{
- int arr [3] = {6,7,8};
- vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
- dect.reserveDetector(detectors); //else reserve 6,7,8 and go forward
- currTrain.changeSpeed(DCCinst_step13);
- }
-
- }
- break;
- 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;
- }
-
- mcp->_read(GPIOA);
- mcp->_read(GPIOB);
- return true;
}
bool readSwitch(DigitalIn theSwitch){
@@ -444,3 +629,17 @@
mcp->_write(GPINTENA, (unsigned char )0xff);
mcp->_write(GPINTENB, (unsigned char )0xff);// Ready to go!
}
+
+void init_trains(){
+ redTrain.changeSpeed(0x40);
+ silverTrain.changeSpeed(0x40);
+
+ vector<int> res;
+ res.push_back(2);
+ res.push_back(4);
+ dect.makeReservation(res); //Run trains counterclockwise and reserve the
+ vector<int> res2;
+ res2.push_back(12);
+ res2.push_back(13);
+ dect.makeReservation(res2);
+}
