Mohammed Alshiekh / Mbed 2 deprecated elevator_with_queue

course work

Dependencies:   LinkedList mbed

elevator.cpp@2:07f2fe858dbd, 2015-10-08 (annotated)

Committer:
sahabi
Date:
Thu Oct 08 18:25:07 2015 +0000
Revision:
2:07f2fe858dbd
Parent:
1:28120714ad80
Child:
3:19106c977df1
working, not voltage reading yet.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahabi 0:69be3faae0a0 1 #include "mbed.h"
sahabi 0:69be3faae0a0 2
sahabi 0:69be3faae0a0 3 PwmOut servo1(p21);
sahabi 0:69be3faae0a0 4 PwmOut servo2(p22);
sahabi 0:69be3faae0a0 5 PwmOut dc_motor(p23);
sahabi 0:69be3faae0a0 6 DigitalInOut in1(p5);
sahabi 0:69be3faae0a0 7 DigitalInOut in2(p6);
sahabi 0:69be3faae0a0 8 InterruptIn firstfloor(p7);
sahabi 0:69be3faae0a0 9 InterruptIn secondfloor(p8);
sahabi 0:69be3faae0a0 10 InterruptIn thirdfloor(p9);
sahabi 0:69be3faae0a0 11 InterruptIn fourthfloor(p10);
sahabi 0:69be3faae0a0 12 InterruptIn fifthfloor(p11);
sahabi 1:28120714ad80 13 InterruptIn sensor(p12);
sahabi 1:28120714ad80 14 DigitalOut led4(LED4);
sahabi 1:28120714ad80 15 DigitalOut led3(LED3);
sahabi 1:28120714ad80 16 DigitalOut led2(LED2);
sahabi 1:28120714ad80 17 DigitalOut led1(LED1);
sahabi 0:69be3faae0a0 18 Timeout timeout;
sahabi 2:07f2fe858dbd 19 int first = 0;
sahabi 0:69be3faae0a0 20 Timer time1;
sahabi 2:07f2fe858dbd 21 int once = 0;
sahabi 0:69be3faae0a0 22 float stationary = 0.075;
sahabi 0:69be3faae0a0 23 int closed;
sahabi 0:69be3faae0a0 24 float ccw = 0.085; // counter clock-wise
sahabi 0:69be3faae0a0 25 float cw = 0.065; // clock-wise
sahabi 1:28120714ad80 26 int reached = 0;
sahabi 0:69be3faae0a0 27 int location = 1;
sahabi 2:07f2fe858dbd 28 float frequency;
sahabi 0:69be3faae0a0 29 int requested_floor;
sahabi 0:69be3faae0a0 30 int busy = 0;
sahabi 2:07f2fe858dbd 31 int currentfloor;
sahabi 1:28120714ad80 32
sahabi 2:07f2fe858dbd 33 void serve(){
sahabi 2:07f2fe858dbd 34 if(busy == 1){
sahabi 2:07f2fe858dbd 35
sahabi 2:07f2fe858dbd 36 if (first == 0){
sahabi 2:07f2fe858dbd 37 time1.reset();
sahabi 2:07f2fe858dbd 38 time1.start();
sahabi 2:07f2fe858dbd 39 first = 1;
sahabi 2:07f2fe858dbd 40 }
sahabi 2:07f2fe858dbd 41
sahabi 2:07f2fe858dbd 42 else if (first == 1){
sahabi 2:07f2fe858dbd 43 time1.stop();
sahabi 2:07f2fe858dbd 44 first = 0;
sahabi 2:07f2fe858dbd 45 once++;
sahabi 2:07f2fe858dbd 46 frequency = 1./time1.read();
sahabi 2:07f2fe858dbd 47
sahabi 2:07f2fe858dbd 48 if (once ==2){
sahabi 2:07f2fe858dbd 49 once = 0;
sahabi 2:07f2fe858dbd 50 if (frequency >= 900 && frequency <= 1100){currentfloor = 5;}
sahabi 2:07f2fe858dbd 51 else if (frequency >= 700 && frequency <= 800){currentfloor = 4;led4 = !led4;}
sahabi 2:07f2fe858dbd 52 else if (frequency >= 450 && frequency <= 550){currentfloor = 3;led3 = !led3;}
sahabi 2:07f2fe858dbd 53 else if (frequency >= 220 && frequency <= 290){currentfloor = 2;led2 = !led2;}
sahabi 2:07f2fe858dbd 54 else if (frequency >= 70 && frequency <= 150){currentfloor = 1;led1 = !led1;}
sahabi 1:28120714ad80 55
sahabi 2:07f2fe858dbd 56 if (currentfloor == requested_floor){
sahabi 2:07f2fe858dbd 57 led1 = 0;
sahabi 2:07f2fe858dbd 58 led2 = 0;
sahabi 2:07f2fe858dbd 59 led3 = 0;
sahabi 2:07f2fe858dbd 60 led4 = 0;
sahabi 2:07f2fe858dbd 61 in1 = 0;
sahabi 2:07f2fe858dbd 62 in2 = 0;
sahabi 2:07f2fe858dbd 63 servo1.write(cw);
sahabi 2:07f2fe858dbd 64 servo2.write(ccw);
sahabi 2:07f2fe858dbd 65 wait(0.33);
sahabi 2:07f2fe858dbd 66 servo1.write(stationary);
sahabi 2:07f2fe858dbd 67 servo2.write(stationary);
sahabi 2:07f2fe858dbd 68 busy = 0;
sahabi 2:07f2fe858dbd 69 location = requested_floor;
sahabi 2:07f2fe858dbd 70 }
sahabi 2:07f2fe858dbd 71
sahabi 0:69be3faae0a0 72 }
sahabi 2:07f2fe858dbd 73
sahabi 2:07f2fe858dbd 74 }
sahabi 1:28120714ad80 75 }
sahabi 0:69be3faae0a0 76 }
sahabi 1:28120714ad80 77
sahabi 0:69be3faae0a0 78 void moveUp(){
sahabi 1:28120714ad80 79 dc_motor.write(0.6f);
sahabi 0:69be3faae0a0 80 in1 = 1;
sahabi 0:69be3faae0a0 81 in2 = 0;
sahabi 0:69be3faae0a0 82 }
sahabi 0:69be3faae0a0 83
sahabi 0:69be3faae0a0 84 void moveDown(){
sahabi 1:28120714ad80 85 dc_motor.write(0.6f);
sahabi 0:69be3faae0a0 86 in1 = 0;
sahabi 0:69be3faae0a0 87 in2 = 1;
sahabi 0:69be3faae0a0 88 }
sahabi 0:69be3faae0a0 89
sahabi 0:69be3faae0a0 90 void stop(){
sahabi 0:69be3faae0a0 91 in1 = 0;
sahabi 0:69be3faae0a0 92 in2 = 0;
sahabi 0:69be3faae0a0 93 }
sahabi 0:69be3faae0a0 94
sahabi 0:69be3faae0a0 95 void closeDoor(){
sahabi 0:69be3faae0a0 96 servo1.write(ccw);
sahabi 0:69be3faae0a0 97 servo2.write(cw);
sahabi 1:28120714ad80 98 wait(0.33);
sahabi 0:69be3faae0a0 99 servo1.write(stationary);
sahabi 0:69be3faae0a0 100 servo2.write(stationary);
sahabi 0:69be3faae0a0 101 }
sahabi 0:69be3faae0a0 102
sahabi 0:69be3faae0a0 103 void openDoor(){
sahabi 0:69be3faae0a0 104 servo1.write(cw);
sahabi 0:69be3faae0a0 105 servo2.write(ccw);
sahabi 1:28120714ad80 106 wait(0.33);
sahabi 0:69be3faae0a0 107 servo1.write(stationary);
sahabi 0:69be3faae0a0 108 servo2.write(stationary);
sahabi 0:69be3faae0a0 109 }
sahabi 0:69be3faae0a0 110
sahabi 0:69be3faae0a0 111 void call(int next) {
sahabi 1:28120714ad80 112 if (busy == 0){
sahabi 1:28120714ad80 113 requested_floor = next;
sahabi 1:28120714ad80 114 if (location > next){
sahabi 1:28120714ad80 115 closeDoor();
sahabi 1:28120714ad80 116 moveDown();
sahabi 1:28120714ad80 117 busy = 1;
sahabi 1:28120714ad80 118 }
sahabi 1:28120714ad80 119
sahabi 1:28120714ad80 120 else if (location < next){
sahabi 1:28120714ad80 121 closeDoor();
sahabi 1:28120714ad80 122 moveUp();
sahabi 1:28120714ad80 123 busy = 1;
sahabi 1:28120714ad80 124 }
sahabi 0:69be3faae0a0 125 }
sahabi 1:28120714ad80 126 }
sahabi 0:69be3faae0a0 127
sahabi 0:69be3faae0a0 128 void call1(void) { call(1); }
sahabi 0:69be3faae0a0 129 void call2(void) { call(2); }
sahabi 0:69be3faae0a0 130 void call3(void) { call(3); }
sahabi 0:69be3faae0a0 131 void call4(void) { call(4); }
sahabi 0:69be3faae0a0 132 void call5(void) { call(5); }
sahabi 0:69be3faae0a0 133
sahabi 0:69be3faae0a0 134
sahabi 0:69be3faae0a0 135 int main() {
sahabi 0:69be3faae0a0 136 servo1.period(0.02f);
sahabi 0:69be3faae0a0 137 servo2.period(0.02f);
sahabi 0:69be3faae0a0 138 dc_motor.period(0.02f);
sahabi 0:69be3faae0a0 139 servo1.write(stationary);
sahabi 0:69be3faae0a0 140 servo2.write(stationary);
sahabi 0:69be3faae0a0 141 dc_motor.write(0);
sahabi 0:69be3faae0a0 142 in1.output();
sahabi 0:69be3faae0a0 143 in1 = 0;
sahabi 0:69be3faae0a0 144 in2.output();
sahabi 0:69be3faae0a0 145 in2 = 0;
sahabi 0:69be3faae0a0 146 firstfloor.rise(&call1);
sahabi 0:69be3faae0a0 147 secondfloor.rise(&call2);
sahabi 0:69be3faae0a0 148 thirdfloor.rise(&call3);
sahabi 0:69be3faae0a0 149 fourthfloor.rise(&call4);
sahabi 0:69be3faae0a0 150 fifthfloor.rise(&call5);
sahabi 2:07f2fe858dbd 151
sahabi 2:07f2fe858dbd 152 sensor.rise(&serve);
sahabi 0:69be3faae0a0 153
sahabi 0:69be3faae0a0 154 while(1){
sahabi 0:69be3faae0a0 155 }
sahabi 0:69be3faae0a0 156 }
sahabi 0:69be3faae0a0 157
sahabi 0:69be3faae0a0 158