khalil Ahmed
/
Elevator
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main.cpp@0:98c1cd7cd6b7, 2011-01-18 (annotated)
- Committer:
- khalooool
- Date:
- Tue Jan 18 12:16:48 2011 +0000
- Revision:
- 0:98c1cd7cd6b7
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| khalooool | 0:98c1cd7cd6b7 | 1 | #include "mbed.h" |
| khalooool | 0:98c1cd7cd6b7 | 2 | |
| khalooool | 0:98c1cd7cd6b7 | 3 | #define get_event |
| khalooool | 0:98c1cd7cd6b7 | 4 | #define ev |
| khalooool | 0:98c1cd7cd6b7 | 5 | #define green 1 |
| khalooool | 0:98c1cd7cd6b7 | 6 | #define red 0 |
| khalooool | 0:98c1cd7cd6b7 | 7 | #define off 0 |
| khalooool | 0:98c1cd7cd6b7 | 8 | #define on 1 |
| khalooool | 0:98c1cd7cd6b7 | 9 | #define flashing 2 |
| khalooool | 0:98c1cd7cd6b7 | 10 | |
| khalooool | 0:98c1cd7cd6b7 | 11 | enum state {st_GND_DC,st_GND_DO,st_GND_closing,st_DSING_at1,st_GU_closing,st_GND_opening,st_Top_DC,st_Top_DO,st_waiting_for_GND,st_waiting_for_Top,st_DC_moving_up,st_DC_moving_dwn,}; |
| khalooool | 0:98c1cd7cd6b7 | 12 | enum event {ev_no_event,ev_Top,ev_GND,ev_near_top,ev_near_GND,ev_swt_up,ev_swt_dwn,ev_LVL1_swt,ev_LVL2_swt,ev_mtr_finish,ev_time_out}; |
| khalooool | 0:98c1cd7cd6b7 | 13 | |
| khalooool | 0:98c1cd7cd6b7 | 14 | int green_flashing, red_flashing; |
| khalooool | 0:98c1cd7cd6b7 | 15 | |
| khalooool | 0:98c1cd7cd6b7 | 16 | DigitalOut green_led(LED1); |
| khalooool | 0:98c1cd7cd6b7 | 17 | DigitalOut red_led(LED4); |
| khalooool | 0:98c1cd7cd6b7 | 18 | Ticker led_flasher; |
| khalooool | 0:98c1cd7cd6b7 | 19 | Ticker timer; |
| khalooool | 0:98c1cd7cd6b7 | 20 | |
| khalooool | 0:98c1cd7cd6b7 | 21 | void led(int colour, int mode) { |
| khalooool | 0:98c1cd7cd6b7 | 22 | switch (colour) { |
| khalooool | 0:98c1cd7cd6b7 | 23 | case green: |
| khalooool | 0:98c1cd7cd6b7 | 24 | switch (mode) { |
| khalooool | 0:98c1cd7cd6b7 | 25 | case off: |
| khalooool | 0:98c1cd7cd6b7 | 26 | green_led = off; |
| khalooool | 0:98c1cd7cd6b7 | 27 | green_flashing = off; |
| khalooool | 0:98c1cd7cd6b7 | 28 | break; |
| khalooool | 0:98c1cd7cd6b7 | 29 | case on: |
| khalooool | 0:98c1cd7cd6b7 | 30 | green_led = on; |
| khalooool | 0:98c1cd7cd6b7 | 31 | green_flashing = off; |
| khalooool | 0:98c1cd7cd6b7 | 32 | break; |
| khalooool | 0:98c1cd7cd6b7 | 33 | case flashing: |
| khalooool | 0:98c1cd7cd6b7 | 34 | green_led = on; |
| khalooool | 0:98c1cd7cd6b7 | 35 | green_flashing = on; |
| khalooool | 0:98c1cd7cd6b7 | 36 | break; |
| khalooool | 0:98c1cd7cd6b7 | 37 | } |
| khalooool | 0:98c1cd7cd6b7 | 38 | switch (colour) { |
| khalooool | 0:98c1cd7cd6b7 | 39 | case red: |
| khalooool | 0:98c1cd7cd6b7 | 40 | switch (mode) { |
| khalooool | 0:98c1cd7cd6b7 | 41 | case off: |
| khalooool | 0:98c1cd7cd6b7 | 42 | red_led = off; |
| khalooool | 0:98c1cd7cd6b7 | 43 | red_flashing = off; |
| khalooool | 0:98c1cd7cd6b7 | 44 | break; |
| khalooool | 0:98c1cd7cd6b7 | 45 | case on: |
| khalooool | 0:98c1cd7cd6b7 | 46 | red_led = on; |
| khalooool | 0:98c1cd7cd6b7 | 47 | red_flashing = off; |
| khalooool | 0:98c1cd7cd6b7 | 48 | break; |
| khalooool | 0:98c1cd7cd6b7 | 49 | case flashing: |
| khalooool | 0:98c1cd7cd6b7 | 50 | red_led = on; |
| khalooool | 0:98c1cd7cd6b7 | 51 | red_flashing = on; |
| khalooool | 0:98c1cd7cd6b7 | 52 | break; |
| khalooool | 0:98c1cd7cd6b7 | 53 | } |
| khalooool | 0:98c1cd7cd6b7 | 54 | } |
| khalooool | 0:98c1cd7cd6b7 | 55 | |
| khalooool | 0:98c1cd7cd6b7 | 56 | } |
| khalooool | 0:98c1cd7cd6b7 | 57 | |
| khalooool | 0:98c1cd7cd6b7 | 58 | void new_event(int ev) { |
| khalooool | 0:98c1cd7cd6b7 | 59 | event_queue[ev_load] = ev; |
| khalooool | 0:98c1cd7cd6b7 | 60 | ev_load++; |
| khalooool | 0:98c1cd7cd6b7 | 61 | if (ev_load == 8) |
| khalooool | 0:98c1cd7cd6b7 | 62 | ev_load = 0; |
| khalooool | 0:98c1cd7cd6b7 | 63 | } |
| khalooool | 0:98c1cd7cd6b7 | 64 | |
| khalooool | 0:98c1cd7cd6b7 | 65 | int get_event(void) { |
| khalooool | 0:98c1cd7cd6b7 | 66 | int ev; |
| khalooool | 0:98c1cd7cd6b7 | 67 | if (ev_load != ev_unload) { |
| khalooool | 0:98c1cd7cd6b7 | 68 | ev = event_queue[ev_unload]; |
| khalooool | 0:98c1cd7cd6b7 | 69 | ev_unload++; |
| khalooool | 0:98c1cd7cd6b7 | 70 | if (ev_unload ==8) |
| khalooool | 0:98c1cd7cd6b7 | 71 | ev_unload = 0; |
| khalooool | 0:98c1cd7cd6b7 | 72 | } else ev = no_event; |
| khalooool | 0:98c1cd7cd6b7 | 73 | return ev; |
| khalooool | 0:98c1cd7cd6b7 | 74 | } |
| khalooool | 0:98c1cd7cd6b7 | 75 | |
| khalooool | 0:98c1cd7cd6b7 | 76 | void flash(void) { |
| khalooool | 0:98c1cd7cd6b7 | 77 | if (green_flashing) |
| khalooool | 0:98c1cd7cd6b7 | 78 | green_led = !green_led; |
| khalooool | 0:98c1cd7cd6b7 | 79 | if (red_flashing) |
| khalooool | 0:98c1cd7cd6b7 | 80 | red_led = !red_led; |
| khalooool | 0:98c1cd7cd6b7 | 81 | } |
| khalooool | 0:98c1cd7cd6b7 | 82 | |
| khalooool | 0:98c1cd7cd6b7 | 83 | void update_timeout(void) { |
| khalooool | 0:98c1cd7cd6b7 | 84 | if (time_out) { |
| khalooool | 0:98c1cd7cd6b7 | 85 | time_out --; |
| khalooool | 0:98c1cd7cd6b7 | 86 | if (time_out==0) |
| khalooool | 0:98c1cd7cd6b7 | 87 | new_event(ev_time_out); |
| khalooool | 0:98c1cd7cd6b7 | 88 | } |
| khalooool | 0:98c1cd7cd6b7 | 89 | } |
| khalooool | 0:98c1cd7cd6b7 | 90 | |
| khalooool | 0:98c1cd7cd6b7 | 91 | |
| khalooool | 0:98c1cd7cd6b7 | 92 | |
| khalooool | 0:98c1cd7cd6b7 | 93 | |
| khalooool | 0:98c1cd7cd6b7 | 94 | |
| khalooool | 0:98c1cd7cd6b7 | 95 | |
| khalooool | 0:98c1cd7cd6b7 | 96 | int main() { |
| khalooool | 0:98c1cd7cd6b7 | 97 | |
| khalooool | 0:98c1cd7cd6b7 | 98 | int state; |
| khalooool | 0:98c1cd7cd6b7 | 99 | led_flasher.attach(&flash,0.15); |
| khalooool | 0:98c1cd7cd6b7 | 100 | timer.attach(&update_timeout,0.1); |
| khalooool | 0:98c1cd7cd6b7 | 101 | switch (state) { |
| khalooool | 0:98c1cd7cd6b7 | 102 | case st_GND_DC: |
| khalooool | 0:98c1cd7cd6b7 | 103 | ev = get_event(); |
| khalooool | 0:98c1cd7cd6b7 | 104 | if (ev!=no_event) { |
| khalooool | 0:98c1cd7cd6b7 | 105 | switch (ev) { |
| khalooool | 0:98c1cd7cd6b7 | 106 | case ev_swt_up: |
| khalooool | 0:98c1cd7cd6b7 | 107 | led(green,flashing); |
| khalooool | 0:98c1cd7cd6b7 | 108 | led(red,off); |
| khalooool | 0:98c1cd7cd6b7 | 109 | time_out = 20; |
| khalooool | 0:98c1cd7cd6b7 | 110 | state = st_GND_opening; |
| khalooool | 0:98c1cd7cd6b7 | 111 | break; |
| khalooool | 0:98c1cd7cd6b7 | 112 | case ev_swt_dwn: |
| khalooool | 0:98c1cd7cd6b7 | 113 | motor(up,1.0,20); |
| khalooool | 0:98c1cd7cd6b7 | 114 | state = st_DC_moving_up; |
| khalooool | 0:98c1cd7cd6b7 | 115 | break; |
| khalooool | 0:98c1cd7cd6b7 | 116 | } |
| khalooool | 0:98c1cd7cd6b7 | 117 | } |
| khalooool | 0:98c1cd7cd6b7 | 118 | break; |
| khalooool | 0:98c1cd7cd6b7 | 119 | case st_GND_DO: |
| khalooool | 0:98c1cd7cd6b7 | 120 | ev = get_event(); |
| khalooool | 0:98c1cd7cd6b7 | 121 | if (ev!=no_event) { |
| khalooool | 0:98c1cd7cd6b7 | 122 | switch (ev) { |
| khalooool | 0:98c1cd7cd6b7 | 123 | case ev_time_out: |
| khalooool | 0:98c1cd7cd6b7 | 124 | led(green,off); |
| khalooool | 0:98c1cd7cd6b7 | 125 | led(red,flashing); |
| khalooool | 0:98c1cd7cd6b7 | 126 | time_out = 20; |
| khalooool | 0:98c1cd7cd6b7 | 127 | state = st_GND_closing; |
| khalooool | 0:98c1cd7cd6b7 | 128 | break; |
| khalooool | 0:98c1cd7cd6b7 | 129 | case ev_LVL2_swt: |
| khalooool | 0:98c1cd7cd6b7 | 130 | led(red,flashing); |
| khalooool | 0:98c1cd7cd6b7 | 131 | led(green,off); |
| khalooool | 0:98c1cd7cd6b7 | 132 | time_out = 20; |
| khalooool | 0:98c1cd7cd6b7 | 133 | state = st_GU_closing; |
| khalooool | 0:98c1cd7cd6b7 | 134 | break; |
| khalooool | 0:98c1cd7cd6b7 | 135 | |
| khalooool | 0:98c1cd7cd6b7 | 136 | } |
| khalooool | 0:98c1cd7cd6b7 | 137 | } |
| khalooool | 0:98c1cd7cd6b7 | 138 | break; |
| khalooool | 0:98c1cd7cd6b7 | 139 | case st_GND_closing: |
| khalooool | 0:98c1cd7cd6b7 | 140 | ev = get_event(); |
| khalooool | 0:98c1cd7cd6b7 | 141 | if (ev!=no_event) { |
| khalooool | 0:98c1cd7cd6b7 | 142 | switch (ev) { |
| khalooool | 0:98c1cd7cd6b7 | 143 | case ev_time_out: |
| khalooool | 0:98c1cd7cd6b7 | 144 | led(red,on); |
| khalooool | 0:98c1cd7cd6b7 | 145 | state = st_GND_DC; |
| khalooool | 0:98c1cd7cd6b7 | 146 | break; |
| khalooool | 0:98c1cd7cd6b7 | 147 | } |
| khalooool | 0:98c1cd7cd6b7 | 148 | } |
| khalooool | 0:98c1cd7cd6b7 | 149 | break; |
| khalooool | 0:98c1cd7cd6b7 | 150 | case st_GND_opening: |
| khalooool | 0:98c1cd7cd6b7 | 151 | ev = get_event(); |
| khalooool | 0:98c1cd7cd6b7 | 152 | if (ev!=no_event) { |
| khalooool | 0:98c1cd7cd6b7 | 153 | switch (ev) { |
| khalooool | 0:98c1cd7cd6b7 | 154 | case ev_time_out: |
| khalooool | 0:98c1cd7cd6b7 | 155 | led(green,on); |
| khalooool | 0:98c1cd7cd6b7 | 156 | time_out = 20; |
| khalooool | 0:98c1cd7cd6b7 | 157 | state = st_GND_DC; |
| khalooool | 0:98c1cd7cd6b7 | 158 | break; |
| khalooool | 0:98c1cd7cd6b7 | 159 | } |
| khalooool | 0:98c1cd7cd6b7 | 160 | } |
| khalooool | 0:98c1cd7cd6b7 | 161 | break; |
| khalooool | 0:98c1cd7cd6b7 | 162 | case st_Top_DC: |
| khalooool | 0:98c1cd7cd6b7 | 163 | ev = get_event(); |
| khalooool | 0:98c1cd7cd6b7 | 164 | if (ev!=no_event) { |
| khalooool | 0:98c1cd7cd6b7 | 165 | switch (ev) { |
| khalooool | 0:98c1cd7cd6b7 | 166 | case st_Top_DC: |
| khalooool | 0:98c1cd7cd6b7 | 167 | led(red, of); |
| khalooool | 0:98c1cd7cd6b7 | 168 | time_out = 20; |
| khalooool | 0:98c1cd7cd6b7 | 169 | state = st_GND_DC; |
| khalooool | 0:98c1cd7cd6b7 | 170 | break; |
| khalooool | 0:98c1cd7cd6b7 | 171 | } |
| khalooool | 0:98c1cd7cd6b7 | 172 | } |
| khalooool | 0:98c1cd7cd6b7 | 173 | break; |
| khalooool | 0:98c1cd7cd6b7 | 174 | case st_Top_DO: |
| khalooool | 0:98c1cd7cd6b7 | 175 | ev = get_event(); |
| khalooool | 0:98c1cd7cd6b7 | 176 | if (ev!=no_event) { |
| khalooool | 0:98c1cd7cd6b7 | 177 | switch (ev) { |
| khalooool | 0:98c1cd7cd6b7 | 178 | case ev_time_out: |
| khalooool | 0:98c1cd7cd6b7 | 179 | time_out = 50; |
| khalooool | 0:98c1cd7cd6b7 | 180 | led(green, off); |
| khalooool | 0:98c1cd7cd6b7 | 181 | led(red,flashing); |
| khalooool | 0:98c1cd7cd6b7 | 182 | state= st_DSING_at1, |
| khalooool | 0:98c1cd7cd6b7 | 183 | break; |
| khalooool | 0:98c1cd7cd6b7 | 184 | |
| khalooool | 0:98c1cd7cd6b7 | 185 | } |
| khalooool | 0:98c1cd7cd6b7 | 186 | |
| khalooool | 0:98c1cd7cd6b7 | 187 | } |
| khalooool | 0:98c1cd7cd6b7 | 188 | break; |
| khalooool | 0:98c1cd7cd6b7 | 189 | case st_DSING_at1: |
| khalooool | 0:98c1cd7cd6b7 | 190 | ev = get_event(); |
| khalooool | 0:98c1cd7cd6b7 | 191 | if (ev!=no_event) |
| khalooool | 0:98c1cd7cd6b7 | 192 | switch (ev) { |
| khalooool | 0:98c1cd7cd6b7 | 193 | case ev_time_out: |
| khalooool | 0:98c1cd7cd6b7 | 194 | time_out= 20; |
| khalooool | 0:98c1cd7cd6b7 | 195 | led(red, off); |
| khalooool | 0:98c1cd7cd6b7 | 196 | state = st_Top_DC; |
| khalooool | 0:98c1cd7cd6b7 | 197 | break; |
| khalooool | 0:98c1cd7cd6b7 | 198 | } |
| khalooool | 0:98c1cd7cd6b7 | 199 | break; |
| khalooool | 0:98c1cd7cd6b7 | 200 | case st_waiting_for_GND: |
| khalooool | 0:98c1cd7cd6b7 | 201 | |
| khalooool | 0:98c1cd7cd6b7 | 202 | break; |
| khalooool | 0:98c1cd7cd6b7 | 203 | case st_waiting_for_Top: |
| khalooool | 0:98c1cd7cd6b7 | 204 | ev= get_event(); |
| khalooool | 0:98c1cd7cd6b7 | 205 | if (ev!=no_event) { |
| khalooool | 0:98c1cd7cd6b7 | 206 | switch (ev) { |
| khalooool | 0:98c1cd7cd6b7 | 207 | case ev_Top: |
| khalooool | 0:98c1cd7cd6b7 | 208 | motor(up,0.0,0.0); |
| khalooool | 0:98c1cd7cd6b7 | 209 | led(green,flashing); |
| khalooool | 0:98c1cd7cd6b7 | 210 | led(red, off); |
| khalooool | 0:98c1cd7cd6b7 | 211 | state= st_Top_DO; |
| khalooool | 0:98c1cd7cd6b7 | 212 | break; |
| khalooool | 0:98c1cd7cd6b7 | 213 | |
| khalooool | 0:98c1cd7cd6b7 | 214 | } |
| khalooool | 0:98c1cd7cd6b7 | 215 | } |
| khalooool | 0:98c1cd7cd6b7 | 216 | |
| khalooool | 0:98c1cd7cd6b7 | 217 | break; |
| khalooool | 0:98c1cd7cd6b7 | 218 | case st_DC_moving_up: |
| khalooool | 0:98c1cd7cd6b7 | 219 | ev= get_event(); |
| khalooool | 0:98c1cd7cd6b7 | 220 | if (ev!=no_event) { |
| khalooool | 0:98c1cd7cd6b7 | 221 | switch (ev) { |
| khalooool | 0:98c1cd7cd6b7 | 222 | case ev_near_top: |
| khalooool | 0:98c1cd7cd6b7 | 223 | motor(up,1.0,1.0); |
| khalooool | 0:98c1cd7cd6b7 | 224 | state= st_waiting_for_Top; |
| khalooool | 0:98c1cd7cd6b7 | 225 | break; |
| khalooool | 0:98c1cd7cd6b7 | 226 | } |
| khalooool | 0:98c1cd7cd6b7 | 227 | } |
| khalooool | 0:98c1cd7cd6b7 | 228 | |
| khalooool | 0:98c1cd7cd6b7 | 229 | break; |
| khalooool | 0:98c1cd7cd6b7 | 230 | case DC_moving_dwn: |
| khalooool | 0:98c1cd7cd6b7 | 231 | ev= get_event(); |
| khalooool | 0:98c1cd7cd6b7 | 232 | if (ev!=no_event) { |
| khalooool | 0:98c1cd7cd6b7 | 233 | switch { |
| khalooool | 0:98c1cd7cd6b7 | 234 | case ev_near_GND: |
| khalooool | 0:98c1cd7cd6b7 | 235 | motor(dwn,0.1,2); |
| khalooool | 0:98c1cd7cd6b7 | 236 | state= st_waiting_for_GND; |
| khalooool | 0:98c1cd7cd6b7 | 237 | break; |
| khalooool | 0:98c1cd7cd6b7 | 238 | } |
| khalooool | 0:98c1cd7cd6b7 | 239 | } |
| khalooool | 0:98c1cd7cd6b7 | 240 | break; |
| khalooool | 0:98c1cd7cd6b7 | 241 | |
| khalooool | 0:98c1cd7cd6b7 | 242 | |
| khalooool | 0:98c1cd7cd6b7 | 243 | } |
| khalooool | 0:98c1cd7cd6b7 | 244 | } |