Jasmine Karlsson / Mbed 2 deprecated train_rail

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Dependencies:   mbed TextLCD

main.cpp@25:90f7a34c253a, 2018-06-20 (annotated)

Committer:
jasminealice
Date:
Wed Jun 20 09:41:20 2018 +0000
Revision:
25:90f7a34c253a
Parent:
24:418711ed8c52
Child:
26:f5e71308a13e
Code from 19/6

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
jasminealice 21:31647d80614f 39 const unsigned int DCCinst_reverse = 0x48; //reverse speed
KwamsC 14:a5fd98a957e6 40
jasminealice 15:8d96f7a06103 41 //speed dial forward
jasminealice 21:31647d80614f 42 const unsigned int DCCinst_step2 = 0x72; //step 2
KwamsC 24:418711ed8c52 43 const unsigned int DCCinst_step4 = 0x73; //step 4
jasminealice 18:f5824ba95892 44 //const unsigned int DCCinst_step6 = 0x68; //step 6 1/4 speed
jasminealice 16:55c3c5727f14 45 const unsigned int DCCinst_step13 = 0x78; //step 13 1/2 speed
jasminealice 25:90f7a34c253a 46 const unsigned int DCCinst_step20 = 0x75; //step 20 3/4 speed
jasminealice 18:f5824ba95892 47 //const unsigned int DCCinst_step28 = 0x7F; //step 28 Full speed
jasminealice 17:b7b5f40cebff 48 const unsigned int DCCinst_switch1 = 0x81; //Activate switch1
jasminealice 17:b7b5f40cebff 49 const unsigned int DCCinst_switch2 = 0x82; //Activate switch2
jasminealice 17:b7b5f40cebff 50 const unsigned int DCCinst_switch3 = 0x84; //Activate switch3
jasminealice 17:b7b5f40cebff 51 const unsigned int DCCinst_switch4 = 0x88; //Activate switch4
jasminealice 17:b7b5f40cebff 52 const unsigned int DCCinst_deactive_switch = 0x80; //Deactivate switches
KwamsC 14:a5fd98a957e6 53 //stop
jasminealice 16:55c3c5727f14 54 const unsigned int DCCinst_stop = 0x40; //forward and stop 01100000
KwamsC 10:cda57976225f 55
jasminealice 25:90f7a34c253a 56 static const int cRight[] = {6,7,8};
jasminealice 25:90f7a34c253a 57 vector<int> C_right (cRight, cRight + sizeof(cRight) / sizeof(cRight[0]) );
jasminealice 25:90f7a34c253a 58
jasminealice 25:90f7a34c253a 59 static const int cLeft[] = {0,1,2,12,13};
jasminealice 25:90f7a34c253a 60 vector<int> C_left (cLeft, cLeft + sizeof(cLeft) / sizeof(cLeft[0]) );
jasminealice 25:90f7a34c253a 61
jasminealice 17:b7b5f40cebff 62 /*----------------------------------------------------------------------------
jasminealice 17:b7b5f40cebff 63 Function definitions
jasminealice 17:b7b5f40cebff 64 *----------------------------------------------------------------------------*/
jasminealice 17:b7b5f40cebff 65 bool readSwitch(DigitalIn theSwitch);
jasminealice 23:bb57966cb776 66 int convertHextoDec(int pos, int intnr);
KwamsC 24:418711ed8c52 67 void checkDetector(int inter);
jasminealice 22:c024b20a0e2d 68 void init_mcp();
jasminealice 23:bb57966cb776 69 void init_interrupt();
KwamsC 24:418711ed8c52 70 void init_trains();
KwamsC 24:418711ed8c52 71 void executeCase(int pos);
jasminealice 23:bb57966cb776 72 Train& assignTrain(int pos);
KwamsC 10:cda57976225f 73
jasminealice 21:31647d80614f 74 //Trains
jasminealice 23:bb57966cb776 75 Train redTrain(DCCaddress_red, DCCinst_step13, 12);
jasminealice 23:bb57966cb776 76 Train silverTrain(DCCaddress_silver,DCCinst_step13, 2);
jasminealice 21:31647d80614f 77 //Switches
jasminealice 21:31647d80614f 78 Switch switch1(DCCaddress_switch,DCCinst_switch1);
KwamsC 24:418711ed8c52 79 Switch switch2(DCCaddress_switch,DCCinst_switch2);
jasminealice 21:31647d80614f 80 Switch switch3(DCCaddress_switch,DCCinst_switch3);
jasminealice 21:31647d80614f 81 Switch switch4(DCCaddress_switch,DCCinst_switch4);
jasminealice 21:31647d80614f 82 //Detectors
jasminealice 23:bb57966cb776 83 Detector dect(false);
jasminealice 21:31647d80614f 84
jasminealice 23:bb57966cb776 85 // Detectors address
jasminealice 23:bb57966cb776 86 /*
jasminealice 23:bb57966cb776 87 d0 = 0xfe //254
jasminealice 23:bb57966cb776 88 d1 = 0xfd //253
jasminealice 23:bb57966cb776 89 d2 = fb //251
jasminealice 23:bb57966cb776 90 d3 = f7 //247
jasminealice 23:bb57966cb776 91 d4 = ef //239
jasminealice 23:bb57966cb776 92 d5 = df //223
jasminealice 23:bb57966cb776 93 d6 = bf //191
jasminealice 23:bb57966cb776 94 d7 = 7f //255
jasminealice 23:bb57966cb776 95 d8 = 0xfe //254
jasminealice 23:bb57966cb776 96 d9 = fd
jasminealice 23:bb57966cb776 97 d10 = fb
jasminealice 23:bb57966cb776 98 d11 = f7
jasminealice 23:bb57966cb776 99 d12 = ef
jasminealice 23:bb57966cb776 100 d13 = df
jasminealice 23:bb57966cb776 101 */
jasminealice 16:55c3c5727f14 102 /*----------------------------------------------------------------------------
jasminealice 16:55c3c5727f14 103 Main
jasminealice 16:55c3c5727f14 104 *----------------------------------------------------------------------------*/
jasminealice 16:55c3c5727f14 105 int main() {
jasminealice 22:c024b20a0e2d 106 lcd.printf("Start journey");
jasminealice 22:c024b20a0e2d 107 init_mcp();
jasminealice 23:bb57966cb776 108 init_interrupt();
KwamsC 24:418711ed8c52 109 init_trains();
jasminealice 21:31647d80614f 110 while(1){
jasminealice 23:bb57966cb776 111 redTrain.sendCommand();
jasminealice 23:bb57966cb776 112 silverTrain.sendCommand();
jasminealice 22:c024b20a0e2d 113
jasminealice 21:31647d80614f 114 if(!readSwitch(sw3)){ //Change speed
jasminealice 23:bb57966cb776 115 lcd.printf("Go forward");
jasminealice 23:bb57966cb776 116 redTrain.changeSpeed(DCCinst_step13);
jasminealice 23:bb57966cb776 117 silverTrain.changeSpeed(DCCinst_step13);
jasminealice 22:c024b20a0e2d 118 }
jasminealice 23:bb57966cb776 119
KwamsC 24:418711ed8c52 120 if(redTrain.checkStop()){ //check if Train stopped
KwamsC 24:418711ed8c52 121 lcd.cls();
KwamsC 24:418711ed8c52 122 lcd.printf("in stop");
KwamsC 24:418711ed8c52 123 executeCase(redTrain.getPosition());
KwamsC 24:418711ed8c52 124 }
KwamsC 24:418711ed8c52 125 else if(silverTrain.checkStop()){
KwamsC 24:418711ed8c52 126 executeCase(silverTrain.getPosition());
jasminealice 25:90f7a34c253a 127 }
jasminealice 25:90f7a34c253a 128
jasminealice 25:90f7a34c253a 129 if(redTrain.checkStop() && silverTrain.checkStop()) {
jasminealice 25:90f7a34c253a 130 break;
jasminealice 25:90f7a34c253a 131 }
jasminealice 22:c024b20a0e2d 132 }
jasminealice 25:90f7a34c253a 133
jasminealice 25:90f7a34c253a 134 lcd.printf("Shutting down...");
jasminealice 25:90f7a34c253a 135 // en = 0; TO Do : emergency shutdown!!
jasminealice 25:90f7a34c253a 136 //wait(3);
jasminealice 25:90f7a34c253a 137 return 0;
jasminealice 16:55c3c5727f14 138 }
KwamsC 10:cda57976225f 139
KwamsC 14:a5fd98a957e6 140 /*----------------------------------------------------------------------------
KwamsC 14:a5fd98a957e6 141 Functions
KwamsC 14:a5fd98a957e6 142 *----------------------------------------------------------------------------*/
jasminealice 23:bb57966cb776 143 int convertHextoDec(int pos, int intnr){
jasminealice 23:bb57966cb776 144 int newPos;
jasminealice 23:bb57966cb776 145 switch(pos){
jasminealice 23:bb57966cb776 146 case 0xfe:
jasminealice 23:bb57966cb776 147 newPos = 0;
jasminealice 23:bb57966cb776 148 break;
jasminealice 23:bb57966cb776 149 case 0xfd:
jasminealice 23:bb57966cb776 150 newPos = 1;
jasminealice 23:bb57966cb776 151 break;
jasminealice 23:bb57966cb776 152 case 0xfb:
jasminealice 23:bb57966cb776 153 newPos = 2;
jasminealice 23:bb57966cb776 154 break;
jasminealice 23:bb57966cb776 155 case 0xf7:
jasminealice 23:bb57966cb776 156 newPos = 3;
jasminealice 23:bb57966cb776 157 break;
jasminealice 23:bb57966cb776 158 case 0xef:
jasminealice 23:bb57966cb776 159 newPos = 4;
jasminealice 23:bb57966cb776 160 break;
jasminealice 23:bb57966cb776 161 case 0xdf:
jasminealice 23:bb57966cb776 162 newPos = 5;
jasminealice 23:bb57966cb776 163 break;
jasminealice 23:bb57966cb776 164 case 0xbf:
jasminealice 23:bb57966cb776 165 newPos = 6;
jasminealice 23:bb57966cb776 166 break;
jasminealice 23:bb57966cb776 167 case 0x7f:
jasminealice 23:bb57966cb776 168 newPos = 7;
jasminealice 23:bb57966cb776 169 break;
jasminealice 23:bb57966cb776 170 default:
jasminealice 23:bb57966cb776 171 return -1;
jasminealice 23:bb57966cb776 172 }
jasminealice 23:bb57966cb776 173
jasminealice 23:bb57966cb776 174 if(intnr == 1)
jasminealice 23:bb57966cb776 175 newPos += 8;
jasminealice 23:bb57966cb776 176 return newPos;
jasminealice 23:bb57966cb776 177 }
jasminealice 21:31647d80614f 178
jasminealice 23:bb57966cb776 179 Train& assignTrain(int pos){
jasminealice 23:bb57966cb776 180
jasminealice 21:31647d80614f 181 //Check which train got the interupt
jasminealice 21:31647d80614f 182 if(redTrain.checkInterupt(pos)){
jasminealice 21:31647d80614f 183 redTrain.setPosition(pos);
jasminealice 23:bb57966cb776 184 return redTrain;
jasminealice 21:31647d80614f 185 }
jasminealice 21:31647d80614f 186 else if(silverTrain.checkInterupt(pos)){
jasminealice 21:31647d80614f 187 silverTrain.setPosition(pos);
jasminealice 23:bb57966cb776 188 return silverTrain;
jasminealice 25:90f7a34c253a 189 }else{
jasminealice 25:90f7a34c253a 190 lcd.cls();
jasminealice 25:90f7a34c253a 191 lcd.printf("NO TRAIN ASSIGNED");
jasminealice 25:90f7a34c253a 192 silverTrain.Stop();
jasminealice 25:90f7a34c253a 193 redTrain.Stop();
jasminealice 25:90f7a34c253a 194 switch2.switchOff();
jasminealice 25:90f7a34c253a 195
jasminealice 21:31647d80614f 196 }
jasminealice 23:bb57966cb776 197 }
jasminealice 23:bb57966cb776 198
KwamsC 24:418711ed8c52 199 void executeCase(int pos){
KwamsC 24:418711ed8c52 200 Train* currTrain = &assignTrain(pos);
KwamsC 24:418711ed8c52 201
KwamsC 24:418711ed8c52 202 switch(pos){
jasminealice 25:90f7a34c253a 203 case 0:{
KwamsC 24:418711ed8c52 204 lcd.printf("at 0");
jasminealice 25:90f7a34c253a 205 currTrain->changeSpeed(DCCinst_step13);
jasminealice 25:90f7a34c253a 206 break;}
jasminealice 25:90f7a34c253a 207 case 1:{
KwamsC 24:418711ed8c52 208 lcd.printf("at 1");
jasminealice 25:90f7a34c253a 209 //TO DO: Check which train is going and only slow down if it started from 2
jasminealice 25:90f7a34c253a 210 /*if(!currTrain->isClockwise()){
jasminealice 25:90f7a34c253a 211 currTrain->changeSpeed(DCCinst_step4);//Slow down
jasminealice 25:90f7a34c253a 212 lcd.printf("slow down");
jasminealice 25:90f7a34c253a 213 }*/
jasminealice 25:90f7a34c253a 214 //else
jasminealice 25:90f7a34c253a 215 currTrain->changeSpeed(DCCinst_step13);
jasminealice 25:90f7a34c253a 216
jasminealice 25:90f7a34c253a 217 break;}
jasminealice 25:90f7a34c253a 218 case 2:{
KwamsC 24:418711ed8c52 219 /*
jasminealice 25:90f7a34c253a 220 Stop everytime at 2
KwamsC 24:418711ed8c52 221 */
jasminealice 25:90f7a34c253a 222 lcd.printf("at 2");
jasminealice 25:90f7a34c253a 223 dect.showReservation();
jasminealice 25:90f7a34c253a 224 wait(2);
jasminealice 25:90f7a34c253a 225
jasminealice 25:90f7a34c253a 226 if(!dect.checkReservation(4) && !dect.checkReservation(3)){ //Check if 4 or 3 is reserved
jasminealice 25:90f7a34c253a 227 lcd.cls();
jasminealice 25:90f7a34c253a 228 lcd.printf("none is reserved");
jasminealice 25:90f7a34c253a 229 int v1 = rand() % 100; //IF NOT randomize which way to go
jasminealice 25:90f7a34c253a 230 if (v1 < 75){ //0.25 chance to enable the switch2, reserve 3,9
jasminealice 25:90f7a34c253a 231 switch2.switchOn();
KwamsC 24:418711ed8c52 232 int arr [2] = {3,9};
KwamsC 24:418711ed8c52 233 vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
KwamsC 24:418711ed8c52 234 dect.makeReservation(detectors);
jasminealice 25:90f7a34c253a 235 }
jasminealice 25:90f7a34c253a 236 else { //0.75 chance to disable switch2, reserve 4
jasminealice 25:90f7a34c253a 237 switch2.switchOff();
KwamsC 24:418711ed8c52 238 vector<int> detectors(4);
KwamsC 24:418711ed8c52 239 dect.makeReservation(detectors);
jasminealice 25:90f7a34c253a 240 }
jasminealice 25:90f7a34c253a 241 }else if(dect.checkReservation(4)){ //IF 4 is reserved
jasminealice 25:90f7a34c253a 242 switch2.switchOn(); //Enable switch2, reserve 3,9
jasminealice 25:90f7a34c253a 243 lcd.cls();
jasminealice 25:90f7a34c253a 244 lcd.printf("4 is reserved");
jasminealice 25:90f7a34c253a 245 int arr [2] = {3,9};
jasminealice 25:90f7a34c253a 246 vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
jasminealice 25:90f7a34c253a 247 dect.makeReservation(detectors);
jasminealice 25:90f7a34c253a 248
jasminealice 25:90f7a34c253a 249 }else{ //IF 3 reserved
jasminealice 25:90f7a34c253a 250 lcd.cls();
jasminealice 25:90f7a34c253a 251 lcd.printf("3 is reserved");
jasminealice 25:90f7a34c253a 252 switch2.switchOff(); //Disable switch2, reserve 4
jasminealice 25:90f7a34c253a 253 vector<int> detectors(4);
jasminealice 25:90f7a34c253a 254 dect.makeReservation(detectors);
jasminealice 25:90f7a34c253a 255 }
jasminealice 25:90f7a34c253a 256 currTrain->changeSpeed(DCCinst_step13); //Go forward
jasminealice 25:90f7a34c253a 257
jasminealice 25:90f7a34c253a 258 break;}
jasminealice 25:90f7a34c253a 259 case 3:{
KwamsC 24:418711ed8c52 260 lcd.printf("at 3");
jasminealice 25:90f7a34c253a 261 dect.showReservation();
jasminealice 25:90f7a34c253a 262
jasminealice 25:90f7a34c253a 263 currTrain->changeDirection(); //change direction
jasminealice 25:90f7a34c253a 264 switch2.switchOff(); //Disable switch2
jasminealice 25:90f7a34c253a 265 dect.clearReservation(C_left); //free nr 0,1,2,12,13
jasminealice 25:90f7a34c253a 266 currTrain->changeSpeed(DCCinst_step13); //go forward
jasminealice 25:90f7a34c253a 267 break;}
jasminealice 25:90f7a34c253a 268 case 4:{
jasminealice 25:90f7a34c253a 269 lcd.printf("At 4");
jasminealice 25:90f7a34c253a 270 dect.showReservation();
jasminealice 25:90f7a34c253a 271 wait(2);
jasminealice 25:90f7a34c253a 272 dect.clearReservation(C_left); //free nr 0,1,2,12,13
jasminealice 25:90f7a34c253a 273 switch3.switchOn(); //Turn on switch3
jasminealice 25:90f7a34c253a 274 if(dect.checkReservation(6)){ //Check if 6 is reserved
jasminealice 25:90f7a34c253a 275 lcd.printf("6 is reserved");
jasminealice 25:90f7a34c253a 276 currTrain->Stop(); //IF yes STOP
KwamsC 24:418711ed8c52 277 }
jasminealice 25:90f7a34c253a 278 else{
jasminealice 25:90f7a34c253a 279 dect.makeReservation(C_right); //else reserve 6,7,8 and go forward
jasminealice 25:90f7a34c253a 280 currTrain->changeSpeed(DCCinst_step13);
KwamsC 24:418711ed8c52 281 }
KwamsC 24:418711ed8c52 282
jasminealice 25:90f7a34c253a 283 dect.showReservation();
jasminealice 25:90f7a34c253a 284 break; }
jasminealice 25:90f7a34c253a 285 case 5:{
KwamsC 24:418711ed8c52 286 lcd.printf("at 5");
jasminealice 25:90f7a34c253a 287 dect.showReservation();
KwamsC 24:418711ed8c52 288
jasminealice 25:90f7a34c253a 289 currTrain->changeDirection(); //change direction
jasminealice 25:90f7a34c253a 290 switch3.switchOn(); //Enable switch3
jasminealice 25:90f7a34c253a 291 dect.clearReservation(C_right); //free nr 6,7,8
jasminealice 25:90f7a34c253a 292 currTrain->changeSpeed(DCCinst_step13); //go forward
jasminealice 25:90f7a34c253a 293
jasminealice 25:90f7a34c253a 294 break;}
jasminealice 25:90f7a34c253a 295 case 6:{
KwamsC 24:418711ed8c52 296 lcd.printf("At 6");
jasminealice 25:90f7a34c253a 297 dect.showReservation();
jasminealice 25:90f7a34c253a 298 wait(2);
KwamsC 24:418711ed8c52 299 if(!currTrain->isClockwise()) //IF CC goes towards 7
KwamsC 24:418711ed8c52 300 {
KwamsC 24:418711ed8c52 301 switch3.switchOn(); //Enable switch3
KwamsC 24:418711ed8c52 302 int arr [3] = {4,5,11};
KwamsC 24:418711ed8c52 303 vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
KwamsC 24:418711ed8c52 304 dect.clearReservation(detectors); //free nr 4,5,11
KwamsC 24:418711ed8c52 305 currTrain->changeSpeed(DCCinst_step13); //Move forward
KwamsC 24:418711ed8c52 306 }
KwamsC 24:418711ed8c52 307 else{
jasminealice 25:90f7a34c253a 308 if(dect.checkReservation(5)){ //IF 5 is reserved
jasminealice 25:90f7a34c253a 309 currTrain->Stop();
jasminealice 25:90f7a34c253a 310
jasminealice 25:90f7a34c253a 311 }else{ //else 5 reserved
jasminealice 25:90f7a34c253a 312 switch3.switchOff(); //Enable switch3, reserve 4
KwamsC 24:418711ed8c52 313 int arr [2] = {5, 11};
KwamsC 24:418711ed8c52 314 vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
KwamsC 24:418711ed8c52 315 dect.makeReservation(detectors);
jasminealice 25:90f7a34c253a 316 currTrain->changeSpeed(DCCinst_step13);
KwamsC 24:418711ed8c52 317 }
KwamsC 24:418711ed8c52 318 currTrain->changeSpeed(DCCinst_step13); //Go forward
KwamsC 24:418711ed8c52 319 }
jasminealice 25:90f7a34c253a 320 break;}
jasminealice 25:90f7a34c253a 321 case 7:{
jasminealice 25:90f7a34c253a 322 lcd.printf("At 7");
jasminealice 25:90f7a34c253a 323 dect.showReservation();
jasminealice 25:90f7a34c253a 324 wait(2);
jasminealice 25:90f7a34c253a 325 currTrain->changeSpeed(DCCinst_step13);
jasminealice 25:90f7a34c253a 326 break;}
jasminealice 25:90f7a34c253a 327 case 8:{
jasminealice 25:90f7a34c253a 328 lcd.printf("At 8");
jasminealice 25:90f7a34c253a 329 dect.showReservation();
jasminealice 25:90f7a34c253a 330 wait(2);
KwamsC 24:418711ed8c52 331 if(currTrain->isClockwise()) //IF C goes towards 7
KwamsC 24:418711ed8c52 332 {
KwamsC 24:418711ed8c52 333 switch4.switchOff(); //Disable switch4
jasminealice 25:90f7a34c253a 334 int arr [3] = {3,9};
KwamsC 24:418711ed8c52 335 vector<int> detectors(arr, arr + sizeof(arr) / sizeof(int));
KwamsC 24:418711ed8c52 336 dect.clearReservation(detectors); //Free 3,9,10
KwamsC 24:418711ed8c52 337 currTrain->changeSpeed(DCCinst_step13); //Move forward
KwamsC 24:418711ed8c52 338 }
KwamsC 24:418711ed8c52 339 else{ //IF CC
jasminealice 25:90f7a34c253a 340 switch4.switchOff(); //Disable switch4, reserve 10
jasminealice 25:90f7a34c253a 341 vector<int> detectors(10);
jasminealice 25:90f7a34c253a 342 dect.makeReservation(detectors);
KwamsC 24:418711ed8c52 343 currTrain->changeSpeed(DCCinst_step13); //Go forward
KwamsC 24:418711ed8c52 344 }
jasminealice 25:90f7a34c253a 345 break;}
jasminealice 25:90f7a34c253a 346 case 9:{
jasminealice 25:90f7a34c253a 347 lcd.printf("at 9");
jasminealice 25:90f7a34c253a 348 dect.showReservation();
jasminealice 25:90f7a34c253a 349 wait(2);
jasminealice 25:90f7a34c253a 350 dect.showReservation();
jasminealice 25:90f7a34c253a 351 if(!dect.checkReservation(8)){
jasminealice 25:90f7a34c253a 352 switch4.switchOn(); //Enable switch4
jasminealice 25:90f7a34c253a 353 dect.makeReservation(C_right); //Reserve 6,7,8
jasminealice 25:90f7a34c253a 354 currTrain->changeSpeed(DCCinst_step13); //Go forward
KwamsC 24:418711ed8c52 355
KwamsC 24:418711ed8c52 356 }
jasminealice 25:90f7a34c253a 357 else{
jasminealice 25:90f7a34c253a 358 lcd.printf("from 9->8 : 8 reserved");
jasminealice 25:90f7a34c253a 359 currTrain->Stop();
jasminealice 25:90f7a34c253a 360 }
jasminealice 25:90f7a34c253a 361 break;}
jasminealice 25:90f7a34c253a 362 case 10:{
jasminealice 25:90f7a34c253a 363 lcd.printf("At 10");
jasminealice 25:90f7a34c253a 364 dect.showReservation();
jasminealice 25:90f7a34c253a 365 wait(2);
jasminealice 25:90f7a34c253a 366
jasminealice 25:90f7a34c253a 367 dect.clearReservation(C_right); //free nr 6, 7, 8, 9
jasminealice 25:90f7a34c253a 368 switch1.switchOff(); //Turn off switch1
jasminealice 25:90f7a34c253a 369 if(dect.checkReservation(12)){ //Check if 12 is reserved
jasminealice 25:90f7a34c253a 370 lcd.printf("12resv. STOP");
jasminealice 25:90f7a34c253a 371 currTrain->Stop(); //IF yes STOP
KwamsC 24:418711ed8c52 372 }
jasminealice 25:90f7a34c253a 373 else{
jasminealice 25:90f7a34c253a 374 lcd.printf("12 not reserved");
jasminealice 25:90f7a34c253a 375 dect.makeReservation(C_left);
jasminealice 25:90f7a34c253a 376 currTrain->changeSpeed(DCCinst_step13); //go forward
jasminealice 25:90f7a34c253a 377 }
jasminealice 25:90f7a34c253a 378 break;}
jasminealice 25:90f7a34c253a 379
jasminealice 25:90f7a34c253a 380 case 11:{
jasminealice 25:90f7a34c253a 381 lcd.printf("at 11");
jasminealice 25:90f7a34c253a 382 dect.showReservation();
jasminealice 25:90f7a34c253a 383 wait(2);
jasminealice 25:90f7a34c253a 384
jasminealice 25:90f7a34c253a 385 if(!dect.checkReservation(12)){
jasminealice 25:90f7a34c253a 386
jasminealice 25:90f7a34c253a 387 switch1.switchOn(); //Enable switch1
jasminealice 25:90f7a34c253a 388 dect.makeReservation(C_left); //Reserve 0,1,2, 12, 13
jasminealice 25:90f7a34c253a 389 currTrain->changeSpeed(DCCinst_step13); //go forward
jasminealice 25:90f7a34c253a 390 }
jasminealice 25:90f7a34c253a 391 else{
jasminealice 25:90f7a34c253a 392 currTrain->Stop();
jasminealice 25:90f7a34c253a 393 }
jasminealice 25:90f7a34c253a 394
KwamsC 24:418711ed8c52 395 break;
KwamsC 24:418711ed8c52 396 case 12:
KwamsC 24:418711ed8c52 397 lcd.printf("at 12");
jasminealice 25:90f7a34c253a 398 dect.showReservation();
jasminealice 25:90f7a34c253a 399 wait(2);
jasminealice 25:90f7a34c253a 400
jasminealice 25:90f7a34c253a 401 switch1.switchOff(); //Turn of switch1
jasminealice 25:90f7a34c253a 402 int arr2 [3] = {5,10,11};
jasminealice 25:90f7a34c253a 403 vector<int> detectors2(arr2, arr2 + sizeof(arr2) / sizeof(int));
jasminealice 25:90f7a34c253a 404 dect.clearReservation(detectors2); //free nr 5, 10, 11
jasminealice 25:90f7a34c253a 405 currTrain->changeSpeed(DCCinst_step13); //Move forward
jasminealice 25:90f7a34c253a 406
jasminealice 25:90f7a34c253a 407 break;}
jasminealice 25:90f7a34c253a 408 case 13: {
KwamsC 24:418711ed8c52 409 lcd.printf("at 13");
jasminealice 25:90f7a34c253a 410 currTrain->changeSpeed(DCCinst_step13);
jasminealice 25:90f7a34c253a 411 break;}
jasminealice 25:90f7a34c253a 412 case 14:{
jasminealice 25:90f7a34c253a 413 lcd.printf("at 21");
jasminealice 25:90f7a34c253a 414 currTrain->changeSpeed(DCCinst_step13);
jasminealice 25:90f7a34c253a 415 break;}
jasminealice 25:90f7a34c253a 416 case 15:{
jasminealice 25:90f7a34c253a 417 lcd.printf("at 22");
jasminealice 25:90f7a34c253a 418 currTrain->changeSpeed(DCCinst_step13);
jasminealice 25:90f7a34c253a 419 break;}
jasminealice 25:90f7a34c253a 420 default: {
KwamsC 24:418711ed8c52 421 lcd.printf("Not in a valid case");
jasminealice 25:90f7a34c253a 422 break; }
KwamsC 24:418711ed8c52 423 }
KwamsC 24:418711ed8c52 424
KwamsC 24:418711ed8c52 425 mcp->_read(GPIOA);
KwamsC 24:418711ed8c52 426 mcp->_read(GPIOB);
KwamsC 24:418711ed8c52 427 }
KwamsC 24:418711ed8c52 428
KwamsC 24:418711ed8c52 429 void checkDetector(int inter){
jasminealice 23:bb57966cb776 430 lcd.cls();
jasminealice 23:bb57966cb776 431 int pos;
jasminealice 23:bb57966cb776 432 wait_us(100);
jasminealice 23:bb57966cb776 433 if (inter == 0){
jasminealice 23:bb57966cb776 434 //Read from first one
jasminealice 23:bb57966cb776 435 pos = mcp->_read(INTCAPA);
jasminealice 23:bb57966cb776 436 pos = convertHextoDec(pos, 0);
jasminealice 21:31647d80614f 437 }
jasminealice 23:bb57966cb776 438 else if (inter == 1){
jasminealice 23:bb57966cb776 439 //Read from second one
jasminealice 23:bb57966cb776 440 pos = mcp->_read(INTCAPB);
jasminealice 23:bb57966cb776 441 pos = convertHextoDec(pos, 1);
jasminealice 23:bb57966cb776 442 }
jasminealice 23:bb57966cb776 443 else
jasminealice 23:bb57966cb776 444 //PROBLEM
jasminealice 23:bb57966cb776 445 lcd.printf("Fail to detect int");
KwamsC 24:418711ed8c52 446
jasminealice 25:90f7a34c253a 447 executeCase(pos);
jasminealice 15:8d96f7a06103 448 }
jasminealice 15:8d96f7a06103 449
jasminealice 17:b7b5f40cebff 450 bool readSwitch(DigitalIn theSwitch){
jasminealice 17:b7b5f40cebff 451 int val = theSwitch.read();
jasminealice 22:c024b20a0e2d 452 //lcd.printf("%d", val);
jasminealice 16:55c3c5727f14 453 if(val == 1)
jasminealice 16:55c3c5727f14 454 return true;
jasminealice 16:55c3c5727f14 455 else
jasminealice 16:55c3c5727f14 456 return false;
tanjinamicky 13:78a2481fd65b 457 }
tanjinamicky 13:78a2481fd65b 458
jasminealice 22:c024b20a0e2d 459 void init_mcp() {
jasminealice 22:c024b20a0e2d 460 // Initialisation of MCP registers,documentation on registers is availableatNiels/Jacco/Natalia
jasminealice 22:c024b20a0e2d 461 mcp = new MCP23017(i2c, 0x40);
jasminealice 22:c024b20a0e2d 462 mcp->_write(IODIRA, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 463 mcp->_write(IODIRB, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 464 mcp->_write(IPOLA, (unsigned char )0x00);
jasminealice 22:c024b20a0e2d 465 mcp->_write(IPOLB, (unsigned char )0x00);
jasminealice 22:c024b20a0e2d 466 mcp->_write(DEFVALA, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 467 mcp->_write(DEFVALB, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 468 mcp->_write(INTCONA, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 469 mcp->_write(INTCONB, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 470 mcp->_write(IOCONA, (unsigned char )0x2);
jasminealice 22:c024b20a0e2d 471 mcp->_write(IOCONB, (unsigned char )0x2);
jasminealice 22:c024b20a0e2d 472 mcp->_write(GPPUA, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 473 mcp->_write(GPPUB, (unsigned char )0xff);
jasminealice 18:f5824ba95892 474 }
jasminealice 23:bb57966cb776 475 void passZero(){
jasminealice 23:bb57966cb776 476 checkDetector(0);
jasminealice 23:bb57966cb776 477 }
jasminealice 22:c024b20a0e2d 478
jasminealice 23:bb57966cb776 479 void passOne(){
jasminealice 23:bb57966cb776 480 checkDetector(1);
jasminealice 23:bb57966cb776 481 }
jasminealice 23:bb57966cb776 482
jasminealice 23:bb57966cb776 483 void init_interrupt() {
jasminealice 22:c024b20a0e2d 484 // Clear current interrupts
jasminealice 25:90f7a34c253a 485 //en = 1;
jasminealice 22:c024b20a0e2d 486 mcp->_read(GPIOA);
jasminealice 22:c024b20a0e2d 487 mcp->_read(GPIOB);
jasminealice 22:c024b20a0e2d 488 // Register callbacks
jasminealice 23:bb57966cb776 489 int0.fall(&passZero);
jasminealice 23:bb57966cb776 490 int1.fall(&passOne);
jasminealice 22:c024b20a0e2d 491 // Enable interrupts on MCP
jasminealice 22:c024b20a0e2d 492 mcp->_write(GPINTENA, (unsigned char )0xff);
jasminealice 22:c024b20a0e2d 493 mcp->_write(GPINTENB, (unsigned char )0xff);// Ready to go!
jasminealice 22:c024b20a0e2d 494 }
KwamsC 24:418711ed8c52 495
KwamsC 24:418711ed8c52 496 void init_trains(){
jasminealice 25:90f7a34c253a 497 redTrain.changeSpeed(DCCinst_stop);
jasminealice 25:90f7a34c253a 498 silverTrain.changeSpeed(DCCinst_stop);
KwamsC 24:418711ed8c52 499
KwamsC 24:418711ed8c52 500 vector<int> res;
KwamsC 24:418711ed8c52 501 res.push_back(2);
jasminealice 25:90f7a34c253a 502 //res.push_back(4);
jasminealice 25:90f7a34c253a 503 dect.makeReservation(res); //Run trains counterclockwise and reserve
KwamsC 24:418711ed8c52 504 vector<int> res2;
KwamsC 24:418711ed8c52 505 res2.push_back(12);
jasminealice 25:90f7a34c253a 506 //res2.push_back(13);
KwamsC 24:418711ed8c52 507 dect.makeReservation(res2);
jasminealice 25:90f7a34c253a 508 dect.showReservation();
jasminealice 25:90f7a34c253a 509 }