Jasmine Karlsson
/
train_rail
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Diff: main.cpp
- Revision:
- 31:9d973398554f
- Parent:
- 30:63a8a5cefc6b
--- a/main.cpp Mon Jun 25 14:57:17 2018 +0000
+++ b/main.cpp Thu Jun 28 15:08:41 2018 +0000
@@ -57,7 +57,7 @@
static const int cRight[] = {6,7,8};
vector<int> C_right (cRight, cRight + sizeof(cRight) / sizeof(cRight[0]) );
-static const int cLeft[] = {0,1,2,12,13};
+static const int cLeft[] = {0,1,2,12,13,14,15};
vector<int> C_left (cLeft, cLeft + sizeof(cLeft) / sizeof(cLeft[0]) );
static const int junction39[] = {3,9};
@@ -85,6 +85,7 @@
void init_mcp();
void init_interrupt();
void init_trains();
+void endFunction();
void executeCase(int pos, Train* currTrain);
Train& assignTrain(int pos);
@@ -142,21 +143,7 @@
}
}
- lcd.printf("Shutting down...");
- bool in = true;
- while(in){
- redTrain.sendCommand();
- silverTrain.sendCommand();
- externalLed2 = 1;
- // wait(0.2);
- //externalLed2 = 0;
- buzz = 1;
- if(!readSwitch(sw3)){
- in = false;
- }
-
- }
- buzz = 0;
+ endFunction();
return 0;
}
@@ -199,6 +186,26 @@
return newPos;
}
+void endFunction(){
+
+ lcd.printf("Shutting down...");
+ bool in = true;
+ while(in){
+ redTrain.sendCommand();
+ silverTrain.sendCommand();
+ externalLed2 = 1;
+ // wait(0.2);
+ //externalLed2 = 0;
+ buzz = 1;
+ if(!readSwitch(sw4)){
+ in = false;
+ }
+
+ }
+ externalLed2 = 0;
+ buzz = 0;
+}
+
Train& assignTrain(int pos){
//Check which train got the interupt
@@ -218,35 +225,35 @@
lcd.cls();
lcd.printf("NO TRAIN ASSIGNED");
lcd.printf("%d", pos);
+
silverTrain.Stop();
redTrain.Stop();
- switch2.switchOff();
+ endFunction();
}
}
void executeCase(int pos, Train* currTrain){
lcd.cls();
+ lcd.printf("At ");
+ lcd.printf("%d", pos);
switch(pos){
case 0:{
- lcd.printf("at 0");
currTrain->changeSpeed(currTrain->normalSpeed());
break;}
case 1:{
- lcd.printf("at 1");
//TO DO: Check which train is going and only slow down if it started from 2
/*if(!currTrain->isClockwise()){
currTrain->changeSpeed(slow_speed);//Slow down
lcd.printf("slow down");
}*/
//else
- currTrain->changeSpeed(currTrain->normalSpeed());
+ currTrain->changeSpeed(currTrain->slowlySpeed());
break;}
case 2:{
/*
Stop everytime at 2
*/
- lcd.printf("at 2");
dect.showReservation();
if(!dect.checkReservation(10) && !dect.checkReservation(11)){
currTrain->Stop();
@@ -275,15 +282,12 @@
currTrain->changeSpeed(currTrain->normalSpeed()); //Go forward
}
break;}
- case 3:{
- lcd.printf("at 3");
-
-
+ case 3:{
switch2.switchOff(); //Disable switch2
dect.clearReservation(C_left); //free nr 0,1,2,12,13
if(!dect.checkReservation(5)){
currTrain->changeDirection(); //change direction
- currTrain->changeSpeed(currTrain->normalSpeed()); //go forward
+ currTrain->changeSpeed(currTrain->slowlySpeed()); //go forward
}
else{
currTrain->Stop();
@@ -291,11 +295,15 @@
break;
}
case 4:{
- lcd.printf("At 4");
dect.clearReservation(C_left); //free nr 0,1,2,12,13
switch3.switchOn(); //Turn on switch3
dect.showReservation();
- if(dect.checkReservation(6)){ //Check if 6 is reserved
+ if(currTrain->isClockwise()){
+ lcd.printf("Switch 3 not activated");
+ redTrain.Stop();
+ silverTrain.Stop();
+ }
+ else if(dect.checkReservation(6)){ //Check if 6 is reserved
currTrain->Stop(); //IF yes STOP
}
else{
@@ -305,8 +313,7 @@
break;
}
case 5:{
- lcd.printf("at 5");
-
+ dect.makeReservation(junction_511);
switch3.switchOn(); //Enable switch3
dect.clearReservation(C_right); //free nr 6,7,8
@@ -320,7 +327,6 @@
break;
}
case 6:{
- lcd.printf("At 6");
if(!currTrain->isClockwise()) //IF CC goes towards 7
{
switch3.switchOn(); //Enable switch3
@@ -342,12 +348,10 @@
}
break;
}
- case 7:{
- lcd.printf("At 7");
- currTrain->changeSpeed(currTrain->normalSpeed());
+ case 7:{
+ currTrain->changeSpeed(currTrain->slowlySpeed());
break;}
- case 8:{
- lcd.printf("At 8");
+ case 8:{
if(currTrain->isClockwise()) //IF C goes towards 7
{
switch4.switchOff(); //Disable switch4
@@ -365,9 +369,13 @@
}
break;
}
- case 9:{
- lcd.printf("at 9");
- if(!dect.checkReservation(8)){
+ case 9:{
+ if(!currTrain->isClockwise()){
+ lcd.printf("Switch 4 is activated");
+ redTrain.Stop();
+ silverTrain.Stop();
+ }
+ else if(!dect.checkReservation(8)){
switch4.switchOn(); //Enable switch4
dect.makeReservation(C_right); //Reserve 6,7,8
currTrain->changeSpeed(currTrain->normalSpeed()); //Go forward
@@ -379,9 +387,8 @@
}
break;
}
- case 10:{
- lcd.printf("At 10");
-
+ case 10:{
+ dect.makeReservation(lane_10);
dect.clearReservation(C_right); //free nr 6, 7, 8, 9
if(dect.checkReservation(12)){ //Check if 12 is reserved
currTrain->Stop(); //IF yes STOP
@@ -394,9 +401,9 @@
break;
}
- case 11:{
- lcd.printf("at 11");
-
+ case 11:{
+ dect.makeReservation(junction_511);
+ dect.showReservation();
if(!dect.checkReservation(12)){
switch1.switchOn(); //Enable switch1
@@ -408,30 +415,27 @@
}
break;
}
- case 12: {
- lcd.printf("at 12");
+ case 12: {
switch1.switchOff(); //Turn of switch1
//int arr2 [3] = {5,10,11};
//vector<int> detectors2(arr2, arr2 + sizeof(arr2) / sizeof(int));
dect.clearReservation(lane_10); //free nr 5, 10, 11
dect.clearReservation(junction_511);
+ dect.makeReservation(C_left);
currTrain->changeSpeed(currTrain->normalSpeed()); //Move forward
break;
}
case 13: {
- lcd.printf("at 13");
currTrain->changeSpeed(currTrain->normalSpeed());
break;
}
- case 14:{
- lcd.printf("at 21");
+ case 14:{
currTrain->changeSpeed(currTrain->slowlySpeed());
break;
}
case 15:{
- lcd.printf("at 22");
- currTrain->changeSpeed(currTrain->normalSpeed());
+ currTrain->changeSpeed(currTrain->slowlySpeed());
break;
}
default: {
@@ -459,13 +463,15 @@
pos = mcp->_read(INTCAPB);
pos = convertHextoDec(pos, 1);
}
- else
+ else{
//PROBLEM
lcd.printf("Fail to detect int");
- if(pos!=7){
- Train* currTrain = &assignTrain(pos);
- executeCase(pos, currTrain);
+ return;
}
+
+ Train* currTrain = &assignTrain(pos);
+ executeCase(pos, currTrain);
+
}
bool readSwitch(DigitalIn theSwitch){
