Mohammed Alshiekh / Mbed 2 deprecated elevator_with_queue

course work

Dependencies:   LinkedList mbed

elevator.cpp@6:1f9baf8d833e, 2015-10-11 (annotated)

Committer:
sahabi
Date:
Sun Oct 11 21:32:14 2015 +0000
Revision:
6:1f9baf8d833e
Parent:
5:15bb8f6b6d85
Child:
7:9ff7df122ff6
done. servo not tested.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahabi 0:69be3faae0a0 1 #include "mbed.h"
sahabi 0:69be3faae0a0 2
sahabi 3:19106c977df1 3 Serial pc(USBTX,USBRX);
sahabi 3:19106c977df1 4 PwmOut dc_motor(p23);
sahabi 0:69be3faae0a0 5 PwmOut servo1(p21);
sahabi 0:69be3faae0a0 6 PwmOut servo2(p22);
sahabi 0:69be3faae0a0 7 DigitalInOut in1(p5);
sahabi 0:69be3faae0a0 8 DigitalInOut in2(p6);
sahabi 4:fba6c97a6192 9 AnalogIn an(p16);
sahabi 3:19106c977df1 10 InterruptIn firstfloor(p15);
sahabi 0:69be3faae0a0 11 InterruptIn secondfloor(p8);
sahabi 0:69be3faae0a0 12 InterruptIn thirdfloor(p9);
sahabi 0:69be3faae0a0 13 InterruptIn fourthfloor(p10);
sahabi 0:69be3faae0a0 14 InterruptIn fifthfloor(p11);
sahabi 1:28120714ad80 15 InterruptIn sensor(p12);
sahabi 1:28120714ad80 16 DigitalOut led4(LED4);
sahabi 1:28120714ad80 17 DigitalOut led3(LED3);
sahabi 1:28120714ad80 18 DigitalOut led2(LED2);
sahabi 1:28120714ad80 19 DigitalOut led1(LED1);
sahabi 2:07f2fe858dbd 20 int first = 0;
sahabi 0:69be3faae0a0 21 Timer time1;
sahabi 2:07f2fe858dbd 22 int once = 0;
sahabi 0:69be3faae0a0 23 float stationary = 0.075;
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 3:19106c977df1 27 int location;
sahabi 2:07f2fe858dbd 28 float frequency;
sahabi 4:fba6c97a6192 29 int requested_floor1, requested_floor2, requested_floor;
sahabi 0:69be3faae0a0 30 int busy = 0;
sahabi 2:07f2fe858dbd 31 int currentfloor;
sahabi 1:28120714ad80 32
sahabi 3:19106c977df1 33 void serve(){
sahabi 2:07f2fe858dbd 34
sahabi 3:19106c977df1 35 if(busy == 1){
sahabi 3:19106c977df1 36 if (first == 0){
sahabi 3:19106c977df1 37 time1.reset();
sahabi 3:19106c977df1 38 time1.start();
sahabi 3:19106c977df1 39 first = 1;
sahabi 3:19106c977df1 40 }
sahabi 3:19106c977df1 41
sahabi 3:19106c977df1 42 else if (first == 1){
sahabi 3:19106c977df1 43 time1.stop();
sahabi 3:19106c977df1 44 first = 0;
sahabi 3:19106c977df1 45 once++;
sahabi 3:19106c977df1 46 frequency = 1./time1.read();
sahabi 6:1f9baf8d833e 47
sahabi 3:19106c977df1 48
sahabi 6:1f9baf8d833e 49 if (once == 200){
sahabi 3:19106c977df1 50 once = 0;
sahabi 3:19106c977df1 51
sahabi 6:1f9baf8d833e 52 if (frequency >= 900.0f && frequency <= 1100.0f){currentfloor = 5;}
sahabi 6:1f9baf8d833e 53 else if (frequency >= 600.0f && frequency <= 800.0f){currentfloor = 4;}
sahabi 6:1f9baf8d833e 54 else if (frequency >= 400.0f && frequency <= 590.0f){currentfloor = 3;}
sahabi 6:1f9baf8d833e 55 else if (frequency >= 200.0f && frequency <= 300.0f){currentfloor = 2;}
sahabi 6:1f9baf8d833e 56 else if (frequency >= 50.0f && frequency <= 150.0f){currentfloor = 1;}
sahabi 3:19106c977df1 57
sahabi 3:19106c977df1 58 if (currentfloor == requested_floor){
sahabi 6:1f9baf8d833e 59 pc.printf("served: %d floor frequency: %f \n",currentfloor,frequency);
sahabi 6:1f9baf8d833e 60
sahabi 3:19106c977df1 61 dc_motor.write(0.0f);
sahabi 3:19106c977df1 62 led1 = 0;
sahabi 3:19106c977df1 63 led2 = 0;
sahabi 3:19106c977df1 64 led3 = 0;
sahabi 3:19106c977df1 65 led4 = 0;
sahabi 3:19106c977df1 66 in1 = 0;
sahabi 3:19106c977df1 67 in2 = 0;
sahabi 3:19106c977df1 68 servo1.write(cw);
sahabi 3:19106c977df1 69 servo2.write(ccw);
sahabi 3:19106c977df1 70 wait(0.33);
sahabi 3:19106c977df1 71 servo1.write(stationary);
sahabi 3:19106c977df1 72 servo2.write(stationary);
sahabi 3:19106c977df1 73 busy = 0;
sahabi 3:19106c977df1 74 location = requested_floor;
sahabi 6:1f9baf8d833e 75 pc.printf("at: %d \n",location);
sahabi 4:fba6c97a6192 76 sensor.fall(0);
sahabi 3:19106c977df1 77 }
sahabi 2:07f2fe858dbd 78
sahabi 0:69be3faae0a0 79 }
sahabi 2:07f2fe858dbd 80
sahabi 2:07f2fe858dbd 81 }
sahabi 1:28120714ad80 82 }
sahabi 0:69be3faae0a0 83 }
sahabi 1:28120714ad80 84
sahabi 0:69be3faae0a0 85 void moveUp(){
sahabi 6:1f9baf8d833e 86 dc_motor.write(0.9f);
sahabi 0:69be3faae0a0 87 in1 = 1;
sahabi 0:69be3faae0a0 88 in2 = 0;
sahabi 0:69be3faae0a0 89 }
sahabi 0:69be3faae0a0 90
sahabi 0:69be3faae0a0 91 void moveDown(){
sahabi 3:19106c977df1 92
sahabi 6:1f9baf8d833e 93 dc_motor.write(0.9f);
sahabi 0:69be3faae0a0 94 in1 = 0;
sahabi 0:69be3faae0a0 95 in2 = 1;
sahabi 0:69be3faae0a0 96 }
sahabi 0:69be3faae0a0 97
sahabi 0:69be3faae0a0 98
sahabi 0:69be3faae0a0 99 void closeDoor(){
sahabi 0:69be3faae0a0 100 servo1.write(ccw);
sahabi 0:69be3faae0a0 101 servo2.write(cw);
sahabi 1:28120714ad80 102 wait(0.33);
sahabi 0:69be3faae0a0 103 servo1.write(stationary);
sahabi 0:69be3faae0a0 104 servo2.write(stationary);
sahabi 0:69be3faae0a0 105 }
sahabi 0:69be3faae0a0 106
sahabi 0:69be3faae0a0 107 void openDoor(){
sahabi 0:69be3faae0a0 108 servo1.write(cw);
sahabi 0:69be3faae0a0 109 servo2.write(ccw);
sahabi 1:28120714ad80 110 wait(0.33);
sahabi 0:69be3faae0a0 111 servo1.write(stationary);
sahabi 0:69be3faae0a0 112 servo2.write(stationary);
sahabi 0:69be3faae0a0 113 }
sahabi 0:69be3faae0a0 114
sahabi 0:69be3faae0a0 115 void call(int next) {
sahabi 4:fba6c97a6192 116 if (busy == 0 && next > 0.5){
sahabi 1:28120714ad80 117 requested_floor = next;
sahabi 1:28120714ad80 118 if (location > next){
sahabi 6:1f9baf8d833e 119 pc.printf("serving: %d \n",next);
sahabi 1:28120714ad80 120 closeDoor();
sahabi 1:28120714ad80 121 moveDown();
sahabi 1:28120714ad80 122 busy = 1;
sahabi 4:fba6c97a6192 123 sensor.fall(&serve);
sahabi 1:28120714ad80 124 }
sahabi 1:28120714ad80 125
sahabi 4:fba6c97a6192 126 else if (location < next ){
sahabi 6:1f9baf8d833e 127 pc.printf("serving: %d \n",next);
sahabi 1:28120714ad80 128 closeDoor();
sahabi 1:28120714ad80 129 moveUp();
sahabi 1:28120714ad80 130 busy = 1;
sahabi 4:fba6c97a6192 131 sensor.fall(&serve);
sahabi 1:28120714ad80 132 }
sahabi 0:69be3faae0a0 133 }
sahabi 1:28120714ad80 134 }
sahabi 0:69be3faae0a0 135
sahabi 4:fba6c97a6192 136 //void call1(void) { call(1); }
sahabi 4:fba6c97a6192 137 //void call2(void) { call(2); }
sahabi 4:fba6c97a6192 138 //void call3(void) { call(3); }
sahabi 4:fba6c97a6192 139 //void call4(void) { call(4); }
sahabi 4:fba6c97a6192 140 //void call5(void) { call(5); }
sahabi 0:69be3faae0a0 141
sahabi 0:69be3faae0a0 142
sahabi 0:69be3faae0a0 143 int main() {
sahabi 0:69be3faae0a0 144 servo1.period(0.02f);
sahabi 0:69be3faae0a0 145 servo2.period(0.02f);
sahabi 0:69be3faae0a0 146 servo1.write(stationary);
sahabi 0:69be3faae0a0 147 servo2.write(stationary);
sahabi 0:69be3faae0a0 148 in1.output();
sahabi 0:69be3faae0a0 149 in2.output();
sahabi 0:69be3faae0a0 150 in2 = 0;
sahabi 3:19106c977df1 151 in1 = 0;
sahabi 4:fba6c97a6192 152 // firstfloor.rise(&call1);
sahabi 4:fba6c97a6192 153 // secondfloor.rise(&call2);
sahabi 4:fba6c97a6192 154 // thirdfloor.rise(&call3);
sahabi 4:fba6c97a6192 155 // fourthfloor.rise(&call4);
sahabi 4:fba6c97a6192 156 // fifthfloor.rise(&call5);
sahabi 6:1f9baf8d833e 157 location = 1;
sahabi 4:fba6c97a6192 158 //
sahabi 2:07f2fe858dbd 159
sahabi 3:19106c977df1 160 while(1){
sahabi 4:fba6c97a6192 161
sahabi 4:fba6c97a6192 162 while(busy == 0){
sahabi 4:fba6c97a6192 163
sahabi 6:1f9baf8d833e 164 if (an.read()*3.3f > 0.62f && an.read()*3.3f < 1.0f ){requested_floor1 = 1;} //1
sahabi 6:1f9baf8d833e 165 else if (an.read()*3.3f > 1.20f && an.read()*3.3f < 1.60f ){requested_floor1 = 2;}//2
sahabi 6:1f9baf8d833e 166 else if (an.read()*3.3f > 1.70f && an.read()*3.3f < 2.3f ){requested_floor1 = 3;} //3
sahabi 6:1f9baf8d833e 167 else if (an.read()*3.3f > 2.4f && an.read()*3.3f < 2.9f ){requested_floor1 = 4;} //4
sahabi 6:1f9baf8d833e 168 else if (an.read()*3.3f > 3.0f && an.read()*3.3f < 3.5f ){requested_floor1 = 5;} //5
sahabi 4:fba6c97a6192 169 else{requested_floor1 = 0;}
sahabi 4:fba6c97a6192 170
sahabi 6:1f9baf8d833e 171 if (an.read()*3.3f > 0.62f && an.read()*3.3f < 1.0f ){requested_floor2 = 1;led1 = 1;}
sahabi 6:1f9baf8d833e 172 else if (an.read()*3.3f > 1.20f && an.read()*3.3f < 1.60f ){requested_floor2 = 2;led2 = 1;}
sahabi 6:1f9baf8d833e 173 else if (an.read()*3.3f > 1.70f && an.read()*3.3f < 2.3f ){requested_floor2 = 3;led3 = 1;}
sahabi 6:1f9baf8d833e 174 else if (an.read()*3.3f > 2.4f && an.read()*3.3f < 2.9f ){requested_floor2 = 4; led4 = 1;}
sahabi 5:15bb8f6b6d85 175 else if (an.read()*3.3f > 3.0f && an.read()*3.3f < 3.5f ){requested_floor2 = 5;}
sahabi 4:fba6c97a6192 176 else{requested_floor2 = 0;}
sahabi 4:fba6c97a6192 177
sahabi 4:fba6c97a6192 178 if (requested_floor1 != requested_floor2) {requested_floor = 0;}
sahabi 4:fba6c97a6192 179 else{requested_floor = requested_floor1;}
sahabi 6:1f9baf8d833e 180
sahabi 4:fba6c97a6192 181 call(requested_floor);
sahabi 4:fba6c97a6192 182 }
sahabi 0:69be3faae0a0 183 }
sahabi 0:69be3faae0a0 184 }
sahabi 0:69be3faae0a0 185
sahabi 0:69be3faae0a0 186