Mohammed Alshiekh / Mbed 2 deprecated elevator_with_queue

course work

Dependencies:   LinkedList mbed

elevator.cpp@8:dd34a528a47c, 2015-10-19 (annotated)

Committer:
sahabi
Date:
Mon Oct 19 19:42:36 2015 +0000
Revision:
8:dd34a528a47c
Parent:
7:9ff7df122ff6
Child:
9:95cbc05bd81d
implemented the queue

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahabi 0:69be3faae0a0 1 #include "mbed.h"
sahabi 8:dd34a528a47c 2 #include "LinkedList.h"
sahabi 0:69be3faae0a0 3
sahabi 8:dd34a528a47c 4 int serving;
sahabi 8:dd34a528a47c 5 LinkedList<node>list;
sahabi 3:19106c977df1 6 Serial pc(USBTX,USBRX);
sahabi 3:19106c977df1 7 PwmOut dc_motor(p23);
sahabi 0:69be3faae0a0 8 PwmOut servo1(p21);
sahabi 0:69be3faae0a0 9 PwmOut servo2(p22);
sahabi 0:69be3faae0a0 10 DigitalInOut in1(p5);
sahabi 0:69be3faae0a0 11 DigitalInOut in2(p6);
sahabi 4:fba6c97a6192 12 AnalogIn an(p16);
sahabi 3:19106c977df1 13 InterruptIn firstfloor(p15);
sahabi 0:69be3faae0a0 14 InterruptIn secondfloor(p8);
sahabi 0:69be3faae0a0 15 InterruptIn thirdfloor(p9);
sahabi 0:69be3faae0a0 16 InterruptIn fourthfloor(p10);
sahabi 0:69be3faae0a0 17 InterruptIn fifthfloor(p11);
sahabi 1:28120714ad80 18 InterruptIn sensor(p12);
sahabi 1:28120714ad80 19 DigitalOut led4(LED4);
sahabi 1:28120714ad80 20 DigitalOut led3(LED3);
sahabi 1:28120714ad80 21 DigitalOut led2(LED2);
sahabi 1:28120714ad80 22 DigitalOut led1(LED1);
sahabi 2:07f2fe858dbd 23 int first = 0;
sahabi 0:69be3faae0a0 24 Timer time1;
sahabi 2:07f2fe858dbd 25 int once = 0;
sahabi 0:69be3faae0a0 26 float stationary = 0.075;
sahabi 7:9ff7df122ff6 27 float open = 0.085; // counter clock-wise
sahabi 7:9ff7df122ff6 28 float closed = 0.040; // clock-wise
sahabi 7:9ff7df122ff6 29 float open2 = 0.100;
sahabi 7:9ff7df122ff6 30 float closed2 = 0.055;
sahabi 1:28120714ad80 31 int reached = 0;
sahabi 3:19106c977df1 32 int location;
sahabi 2:07f2fe858dbd 33 float frequency;
sahabi 4:fba6c97a6192 34 int requested_floor1, requested_floor2, requested_floor;
sahabi 0:69be3faae0a0 35 int busy = 0;
sahabi 2:07f2fe858dbd 36 int currentfloor;
sahabi 8:dd34a528a47c 37 int globedir = 2;
sahabi 1:28120714ad80 38
sahabi 8:dd34a528a47c 39
sahabi 8:dd34a528a47c 40 int inqueue(int request){
sahabi 8:dd34a528a47c 41 int i;
sahabi 8:dd34a528a47c 42 int exist = 0;
sahabi 8:dd34a528a47c 43 node *tmp;
sahabi 8:dd34a528a47c 44 for (i = 0; i<= list.length();i++){
sahabi 8:dd34a528a47c 45 tmp = list.pop(i);
sahabi 8:dd34a528a47c 46 if (request == (int) tmp->data)
sahabi 8:dd34a528a47c 47 exist = 1;
sahabi 8:dd34a528a47c 48 }
sahabi 8:dd34a528a47c 49 return exist;
sahabi 8:dd34a528a47c 50 }
sahabi 8:dd34a528a47c 51
sahabi 8:dd34a528a47c 52 int dir(int current, int next){
sahabi 8:dd34a528a47c 53 int direction;
sahabi 8:dd34a528a47c 54 if (current > next)
sahabi 8:dd34a528a47c 55 direction = 1;
sahabi 8:dd34a528a47c 56 if (current <= next)
sahabi 8:dd34a528a47c 57 direction = 0;
sahabi 8:dd34a528a47c 58 return direction;
sahabi 8:dd34a528a47c 59 }
sahabi 3:19106c977df1 60 void serve(){
sahabi 2:07f2fe858dbd 61
sahabi 3:19106c977df1 62 if(busy == 1){
sahabi 3:19106c977df1 63 if (first == 0){
sahabi 3:19106c977df1 64 time1.reset();
sahabi 3:19106c977df1 65 time1.start();
sahabi 3:19106c977df1 66 first = 1;
sahabi 3:19106c977df1 67 }
sahabi 3:19106c977df1 68
sahabi 3:19106c977df1 69 else if (first == 1){
sahabi 3:19106c977df1 70 time1.stop();
sahabi 3:19106c977df1 71 first = 0;
sahabi 3:19106c977df1 72 once++;
sahabi 3:19106c977df1 73 frequency = 1./time1.read();
sahabi 6:1f9baf8d833e 74
sahabi 8:dd34a528a47c 75 if (once == 50){
sahabi 3:19106c977df1 76 once = 0;
sahabi 3:19106c977df1 77
sahabi 6:1f9baf8d833e 78 if (frequency >= 900.0f && frequency <= 1100.0f){currentfloor = 5;}
sahabi 6:1f9baf8d833e 79 else if (frequency >= 600.0f && frequency <= 800.0f){currentfloor = 4;}
sahabi 6:1f9baf8d833e 80 else if (frequency >= 400.0f && frequency <= 590.0f){currentfloor = 3;}
sahabi 6:1f9baf8d833e 81 else if (frequency >= 200.0f && frequency <= 300.0f){currentfloor = 2;}
sahabi 6:1f9baf8d833e 82 else if (frequency >= 50.0f && frequency <= 150.0f){currentfloor = 1;}
sahabi 3:19106c977df1 83
sahabi 8:dd34a528a47c 84 if (currentfloor == serving){
sahabi 6:1f9baf8d833e 85 pc.printf("served: %d floor frequency: %f \n",currentfloor,frequency);
sahabi 6:1f9baf8d833e 86
sahabi 3:19106c977df1 87 dc_motor.write(0.0f);
sahabi 3:19106c977df1 88 led1 = 0;
sahabi 3:19106c977df1 89 led2 = 0;
sahabi 3:19106c977df1 90 led3 = 0;
sahabi 3:19106c977df1 91 led4 = 0;
sahabi 3:19106c977df1 92 in1 = 0;
sahabi 3:19106c977df1 93 in2 = 0;
sahabi 3:19106c977df1 94 busy = 0;
sahabi 7:9ff7df122ff6 95 servo1.write(open);
sahabi 7:9ff7df122ff6 96 servo2.write(open2);
sahabi 8:dd34a528a47c 97 location = serving;
sahabi 6:1f9baf8d833e 98 pc.printf("at: %d \n",location);
sahabi 4:fba6c97a6192 99 sensor.fall(0);
sahabi 3:19106c977df1 100 }
sahabi 2:07f2fe858dbd 101
sahabi 0:69be3faae0a0 102 }
sahabi 2:07f2fe858dbd 103
sahabi 2:07f2fe858dbd 104 }
sahabi 1:28120714ad80 105 }
sahabi 0:69be3faae0a0 106 }
sahabi 1:28120714ad80 107
sahabi 0:69be3faae0a0 108 void moveUp(){
sahabi 8:dd34a528a47c 109 dc_motor.write(0.5f);
sahabi 0:69be3faae0a0 110 in1 = 1;
sahabi 0:69be3faae0a0 111 in2 = 0;
sahabi 0:69be3faae0a0 112 }
sahabi 0:69be3faae0a0 113
sahabi 0:69be3faae0a0 114 void moveDown(){
sahabi 3:19106c977df1 115
sahabi 8:dd34a528a47c 116 dc_motor.write(0.5f);
sahabi 0:69be3faae0a0 117 in1 = 0;
sahabi 0:69be3faae0a0 118 in2 = 1;
sahabi 0:69be3faae0a0 119 }
sahabi 0:69be3faae0a0 120
sahabi 0:69be3faae0a0 121
sahabi 0:69be3faae0a0 122 void closeDoor(){
sahabi 7:9ff7df122ff6 123 servo1.write(closed);
sahabi 7:9ff7df122ff6 124 servo2.write(closed2);
sahabi 0:69be3faae0a0 125 }
sahabi 0:69be3faae0a0 126
sahabi 0:69be3faae0a0 127 void openDoor(){
sahabi 7:9ff7df122ff6 128 servo1.write(open);
sahabi 7:9ff7df122ff6 129 servo2.write(open2);
sahabi 0:69be3faae0a0 130 }
sahabi 0:69be3faae0a0 131
sahabi 0:69be3faae0a0 132 void call(int next) {
sahabi 8:dd34a528a47c 133 node *tmp;
sahabi 8:dd34a528a47c 134 int i;
sahabi 8:dd34a528a47c 135 int assigned = 0;
sahabi 8:dd34a528a47c 136 if (list.length() < 4 && next > 0.5){
sahabi 8:dd34a528a47c 137 list.append((int *)next);
sahabi 8:dd34a528a47c 138 }
sahabi 8:dd34a528a47c 139
sahabi 8:dd34a528a47c 140 if (busy == 0){
sahabi 8:dd34a528a47c 141
sahabi 8:dd34a528a47c 142 if (globedir == 2){
sahabi 8:dd34a528a47c 143 tmp = list.pop(0);
sahabi 8:dd34a528a47c 144 serving = (int)tmp->data;
sahabi 8:dd34a528a47c 145 list.remove(0);
sahabi 8:dd34a528a47c 146 }
sahabi 8:dd34a528a47c 147
sahabi 8:dd34a528a47c 148 else if (globedir ==1){
sahabi 8:dd34a528a47c 149 for (i = 0; i<= list.length();i++){
sahabi 8:dd34a528a47c 150 tmp = list.pop(i);
sahabi 8:dd34a528a47c 151 if (dir(location,(int) tmp->data) == 1){
sahabi 8:dd34a528a47c 152 serving = (int)tmp->data;
sahabi 8:dd34a528a47c 153 list.remove(i);
sahabi 8:dd34a528a47c 154 assigned = 1;
sahabi 8:dd34a528a47c 155 break;
sahabi 8:dd34a528a47c 156 }
sahabi 8:dd34a528a47c 157 }
sahabi 8:dd34a528a47c 158 }
sahabi 8:dd34a528a47c 159
sahabi 8:dd34a528a47c 160 else if (globedir == 0){
sahabi 8:dd34a528a47c 161 for (i = 0; i<= list.length();i++){
sahabi 8:dd34a528a47c 162 tmp = list.pop(i);
sahabi 8:dd34a528a47c 163 if (dir(location,(int) tmp->data) == 0){
sahabi 8:dd34a528a47c 164 serving = (int)tmp->data;
sahabi 8:dd34a528a47c 165 list.remove(i);
sahabi 8:dd34a528a47c 166 assigned = 1;
sahabi 8:dd34a528a47c 167 break;
sahabi 8:dd34a528a47c 168 }
sahabi 8:dd34a528a47c 169 }
sahabi 8:dd34a528a47c 170 }
sahabi 8:dd34a528a47c 171 if (assigned != 1){
sahabi 8:dd34a528a47c 172 tmp = list.pop(0);
sahabi 8:dd34a528a47c 173 serving = (int)tmp->data;
sahabi 8:dd34a528a47c 174 }
sahabi 8:dd34a528a47c 175
sahabi 8:dd34a528a47c 176
sahabi 8:dd34a528a47c 177 if (location > serving){
sahabi 8:dd34a528a47c 178 pc.printf("serving: %d \n",requested_floor);
sahabi 1:28120714ad80 179 closeDoor();
sahabi 1:28120714ad80 180 moveDown();
sahabi 1:28120714ad80 181 busy = 1;
sahabi 4:fba6c97a6192 182 sensor.fall(&serve);
sahabi 1:28120714ad80 183 }
sahabi 1:28120714ad80 184
sahabi 8:dd34a528a47c 185 else if (location < serving ){
sahabi 8:dd34a528a47c 186 pc.printf("serving: %d \n",requested_floor);
sahabi 1:28120714ad80 187 closeDoor();
sahabi 1:28120714ad80 188 moveUp();
sahabi 1:28120714ad80 189 busy = 1;
sahabi 4:fba6c97a6192 190 sensor.fall(&serve);
sahabi 1:28120714ad80 191 }
sahabi 8:dd34a528a47c 192
sahabi 0:69be3faae0a0 193 }
sahabi 8:dd34a528a47c 194 }
sahabi 8:dd34a528a47c 195
sahabi 0:69be3faae0a0 196 int main() {
sahabi 0:69be3faae0a0 197 servo1.period(0.02f);
sahabi 0:69be3faae0a0 198 servo2.period(0.02f);
sahabi 0:69be3faae0a0 199 in1.output();
sahabi 0:69be3faae0a0 200 in2.output();
sahabi 0:69be3faae0a0 201 in2 = 0;
sahabi 7:9ff7df122ff6 202 in1 = 0;
sahabi 8:dd34a528a47c 203 location = 2;
sahabi 2:07f2fe858dbd 204
sahabi 3:19106c977df1 205 while(1){
sahabi 4:fba6c97a6192 206
sahabi 8:dd34a528a47c 207 while(list.length() < 4){
sahabi 4:fba6c97a6192 208
sahabi 6:1f9baf8d833e 209 if (an.read()*3.3f > 0.62f && an.read()*3.3f < 1.0f ){requested_floor1 = 1;} //1
sahabi 6:1f9baf8d833e 210 else if (an.read()*3.3f > 1.20f && an.read()*3.3f < 1.60f ){requested_floor1 = 2;}//2
sahabi 6:1f9baf8d833e 211 else if (an.read()*3.3f > 1.70f && an.read()*3.3f < 2.3f ){requested_floor1 = 3;} //3
sahabi 6:1f9baf8d833e 212 else if (an.read()*3.3f > 2.4f && an.read()*3.3f < 2.9f ){requested_floor1 = 4;} //4
sahabi 6:1f9baf8d833e 213 else if (an.read()*3.3f > 3.0f && an.read()*3.3f < 3.5f ){requested_floor1 = 5;} //5
sahabi 4:fba6c97a6192 214 else{requested_floor1 = 0;}
sahabi 4:fba6c97a6192 215
sahabi 6:1f9baf8d833e 216 if (an.read()*3.3f > 0.62f && an.read()*3.3f < 1.0f ){requested_floor2 = 1;led1 = 1;}
sahabi 6:1f9baf8d833e 217 else if (an.read()*3.3f > 1.20f && an.read()*3.3f < 1.60f ){requested_floor2 = 2;led2 = 1;}
sahabi 6:1f9baf8d833e 218 else if (an.read()*3.3f > 1.70f && an.read()*3.3f < 2.3f ){requested_floor2 = 3;led3 = 1;}
sahabi 6:1f9baf8d833e 219 else if (an.read()*3.3f > 2.4f && an.read()*3.3f < 2.9f ){requested_floor2 = 4; led4 = 1;}
sahabi 5:15bb8f6b6d85 220 else if (an.read()*3.3f > 3.0f && an.read()*3.3f < 3.5f ){requested_floor2 = 5;}
sahabi 4:fba6c97a6192 221 else{requested_floor2 = 0;}
sahabi 4:fba6c97a6192 222
sahabi 4:fba6c97a6192 223 if (requested_floor1 != requested_floor2) {requested_floor = 0;}
sahabi 4:fba6c97a6192 224 else{requested_floor = requested_floor1;}
sahabi 8:dd34a528a47c 225 if (inqueue(requested_floor) == 0 && requested_floor != 0){
sahabi 8:dd34a528a47c 226 call(requested_floor);
sahabi 8:dd34a528a47c 227 }
sahabi 7:9ff7df122ff6 228 }
sahabi 0:69be3faae0a0 229 }
sahabi 7:9ff7df122ff6 230 }