Mohammed Alshiekh / Mbed 2 deprecated elevator_with_queue

course work

Dependencies:   LinkedList mbed

elevator.cpp@7:9ff7df122ff6, 2015-10-13 (annotated)

Committer:
sahabi
Date:
Tue Oct 13 20:41:36 2015 +0000
Revision:
7:9ff7df122ff6
Parent:
6:1f9baf8d833e
Child:
8:dd34a528a47c
final

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 7:9ff7df122ff6 24 float open = 0.085; // counter clock-wise
sahabi 7:9ff7df122ff6 25 float closed = 0.040; // clock-wise
sahabi 7:9ff7df122ff6 26 float open2 = 0.100;
sahabi 7:9ff7df122ff6 27 float closed2 = 0.055;
sahabi 1:28120714ad80 28 int reached = 0;
sahabi 3:19106c977df1 29 int location;
sahabi 2:07f2fe858dbd 30 float frequency;
sahabi 4:fba6c97a6192 31 int requested_floor1, requested_floor2, requested_floor;
sahabi 0:69be3faae0a0 32 int busy = 0;
sahabi 2:07f2fe858dbd 33 int currentfloor;
sahabi 1:28120714ad80 34
sahabi 3:19106c977df1 35 void serve(){
sahabi 2:07f2fe858dbd 36
sahabi 3:19106c977df1 37 if(busy == 1){
sahabi 3:19106c977df1 38 if (first == 0){
sahabi 3:19106c977df1 39 time1.reset();
sahabi 3:19106c977df1 40 time1.start();
sahabi 3:19106c977df1 41 first = 1;
sahabi 3:19106c977df1 42 }
sahabi 3:19106c977df1 43
sahabi 3:19106c977df1 44 else if (first == 1){
sahabi 3:19106c977df1 45 time1.stop();
sahabi 3:19106c977df1 46 first = 0;
sahabi 3:19106c977df1 47 once++;
sahabi 3:19106c977df1 48 frequency = 1./time1.read();
sahabi 6:1f9baf8d833e 49
sahabi 7:9ff7df122ff6 50 if (once == 1000){
sahabi 3:19106c977df1 51 once = 0;
sahabi 3:19106c977df1 52
sahabi 6:1f9baf8d833e 53 if (frequency >= 900.0f && frequency <= 1100.0f){currentfloor = 5;}
sahabi 6:1f9baf8d833e 54 else if (frequency >= 600.0f && frequency <= 800.0f){currentfloor = 4;}
sahabi 6:1f9baf8d833e 55 else if (frequency >= 400.0f && frequency <= 590.0f){currentfloor = 3;}
sahabi 6:1f9baf8d833e 56 else if (frequency >= 200.0f && frequency <= 300.0f){currentfloor = 2;}
sahabi 6:1f9baf8d833e 57 else if (frequency >= 50.0f && frequency <= 150.0f){currentfloor = 1;}
sahabi 3:19106c977df1 58
sahabi 3:19106c977df1 59 if (currentfloor == requested_floor){
sahabi 6:1f9baf8d833e 60 pc.printf("served: %d floor frequency: %f \n",currentfloor,frequency);
sahabi 6:1f9baf8d833e 61
sahabi 3:19106c977df1 62 dc_motor.write(0.0f);
sahabi 3:19106c977df1 63 led1 = 0;
sahabi 3:19106c977df1 64 led2 = 0;
sahabi 3:19106c977df1 65 led3 = 0;
sahabi 3:19106c977df1 66 led4 = 0;
sahabi 3:19106c977df1 67 in1 = 0;
sahabi 3:19106c977df1 68 in2 = 0;
sahabi 3:19106c977df1 69 busy = 0;
sahabi 7:9ff7df122ff6 70 servo1.write(open);
sahabi 7:9ff7df122ff6 71 servo2.write(open2);
sahabi 3:19106c977df1 72 location = requested_floor;
sahabi 6:1f9baf8d833e 73 pc.printf("at: %d \n",location);
sahabi 4:fba6c97a6192 74 sensor.fall(0);
sahabi 3:19106c977df1 75 }
sahabi 2:07f2fe858dbd 76
sahabi 0:69be3faae0a0 77 }
sahabi 2:07f2fe858dbd 78
sahabi 2:07f2fe858dbd 79 }
sahabi 1:28120714ad80 80 }
sahabi 0:69be3faae0a0 81 }
sahabi 1:28120714ad80 82
sahabi 0:69be3faae0a0 83 void moveUp(){
sahabi 7:9ff7df122ff6 84 dc_motor.write(1.0f);
sahabi 0:69be3faae0a0 85 in1 = 1;
sahabi 0:69be3faae0a0 86 in2 = 0;
sahabi 0:69be3faae0a0 87 }
sahabi 0:69be3faae0a0 88
sahabi 0:69be3faae0a0 89 void moveDown(){
sahabi 3:19106c977df1 90
sahabi 7:9ff7df122ff6 91 dc_motor.write(1.0f);
sahabi 0:69be3faae0a0 92 in1 = 0;
sahabi 0:69be3faae0a0 93 in2 = 1;
sahabi 0:69be3faae0a0 94 }
sahabi 0:69be3faae0a0 95
sahabi 0:69be3faae0a0 96
sahabi 0:69be3faae0a0 97 void closeDoor(){
sahabi 7:9ff7df122ff6 98 servo1.write(closed);
sahabi 7:9ff7df122ff6 99 servo2.write(closed2);
sahabi 0:69be3faae0a0 100 }
sahabi 0:69be3faae0a0 101
sahabi 0:69be3faae0a0 102 void openDoor(){
sahabi 7:9ff7df122ff6 103 servo1.write(open);
sahabi 7:9ff7df122ff6 104 servo2.write(open2);
sahabi 0:69be3faae0a0 105 }
sahabi 0:69be3faae0a0 106
sahabi 0:69be3faae0a0 107 void call(int next) {
sahabi 4:fba6c97a6192 108 if (busy == 0 && next > 0.5){
sahabi 1:28120714ad80 109 requested_floor = next;
sahabi 1:28120714ad80 110 if (location > next){
sahabi 6:1f9baf8d833e 111 pc.printf("serving: %d \n",next);
sahabi 1:28120714ad80 112 closeDoor();
sahabi 1:28120714ad80 113 moveDown();
sahabi 1:28120714ad80 114 busy = 1;
sahabi 4:fba6c97a6192 115 sensor.fall(&serve);
sahabi 1:28120714ad80 116 }
sahabi 1:28120714ad80 117
sahabi 4:fba6c97a6192 118 else if (location < next ){
sahabi 6:1f9baf8d833e 119 pc.printf("serving: %d \n",next);
sahabi 1:28120714ad80 120 closeDoor();
sahabi 1:28120714ad80 121 moveUp();
sahabi 1:28120714ad80 122 busy = 1;
sahabi 4:fba6c97a6192 123 sensor.fall(&serve);
sahabi 1:28120714ad80 124 }
sahabi 0:69be3faae0a0 125 }
sahabi 1:28120714ad80 126 }
sahabi 0:69be3faae0a0 127
sahabi 0:69be3faae0a0 128 int main() {
sahabi 0:69be3faae0a0 129 servo1.period(0.02f);
sahabi 0:69be3faae0a0 130 servo2.period(0.02f);
sahabi 0:69be3faae0a0 131 in1.output();
sahabi 0:69be3faae0a0 132 in2.output();
sahabi 0:69be3faae0a0 133 in2 = 0;
sahabi 7:9ff7df122ff6 134 in1 = 0;
sahabi 6:1f9baf8d833e 135 location = 1;
sahabi 2:07f2fe858dbd 136
sahabi 3:19106c977df1 137 while(1){
sahabi 4:fba6c97a6192 138
sahabi 4:fba6c97a6192 139 while(busy == 0){
sahabi 4:fba6c97a6192 140
sahabi 6:1f9baf8d833e 141 if (an.read()*3.3f > 0.62f && an.read()*3.3f < 1.0f ){requested_floor1 = 1;} //1
sahabi 6:1f9baf8d833e 142 else if (an.read()*3.3f > 1.20f && an.read()*3.3f < 1.60f ){requested_floor1 = 2;}//2
sahabi 6:1f9baf8d833e 143 else if (an.read()*3.3f > 1.70f && an.read()*3.3f < 2.3f ){requested_floor1 = 3;} //3
sahabi 6:1f9baf8d833e 144 else if (an.read()*3.3f > 2.4f && an.read()*3.3f < 2.9f ){requested_floor1 = 4;} //4
sahabi 6:1f9baf8d833e 145 else if (an.read()*3.3f > 3.0f && an.read()*3.3f < 3.5f ){requested_floor1 = 5;} //5
sahabi 4:fba6c97a6192 146 else{requested_floor1 = 0;}
sahabi 4:fba6c97a6192 147
sahabi 6:1f9baf8d833e 148 if (an.read()*3.3f > 0.62f && an.read()*3.3f < 1.0f ){requested_floor2 = 1;led1 = 1;}
sahabi 6:1f9baf8d833e 149 else if (an.read()*3.3f > 1.20f && an.read()*3.3f < 1.60f ){requested_floor2 = 2;led2 = 1;}
sahabi 6:1f9baf8d833e 150 else if (an.read()*3.3f > 1.70f && an.read()*3.3f < 2.3f ){requested_floor2 = 3;led3 = 1;}
sahabi 6:1f9baf8d833e 151 else if (an.read()*3.3f > 2.4f && an.read()*3.3f < 2.9f ){requested_floor2 = 4; led4 = 1;}
sahabi 5:15bb8f6b6d85 152 else if (an.read()*3.3f > 3.0f && an.read()*3.3f < 3.5f ){requested_floor2 = 5;}
sahabi 4:fba6c97a6192 153 else{requested_floor2 = 0;}
sahabi 4:fba6c97a6192 154
sahabi 4:fba6c97a6192 155 if (requested_floor1 != requested_floor2) {requested_floor = 0;}
sahabi 4:fba6c97a6192 156 else{requested_floor = requested_floor1;}
sahabi 6:1f9baf8d833e 157
sahabi 4:fba6c97a6192 158 call(requested_floor);
sahabi 7:9ff7df122ff6 159 }
sahabi 0:69be3faae0a0 160 }
sahabi 7:9ff7df122ff6 161 }