Mohammed Alshiekh / Mbed 2 deprecated elevator_with_queue

course work

Dependencies:   LinkedList mbed

elevator.cpp@4:fba6c97a6192, 2015-10-08 (annotated)

Committer:
sahabi
Date:
Thu Oct 08 23:35:14 2015 +0000
Revision:
4:fba6c97a6192
Parent:
3:19106c977df1
Child:
5:15bb8f6b6d85
Could be working..

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 3:19106c977df1 47
sahabi 3:19106c977df1 48 if (once == 2){
sahabi 3:19106c977df1 49 once = 0;
sahabi 3:19106c977df1 50
sahabi 3:19106c977df1 51 if (frequency >= 900 && frequency <= 1100){currentfloor = 5;}
sahabi 3:19106c977df1 52 else if (frequency >= 600 && frequency <= 800){currentfloor = 4;led4 = 1;}
sahabi 3:19106c977df1 53 else if (frequency >= 400 && frequency <= 590){currentfloor = 3;led3 = 1;}
sahabi 3:19106c977df1 54 else if (frequency >= 200 && frequency <= 300){currentfloor = 2;led2 = 1;}
sahabi 3:19106c977df1 55 else if (frequency >= 50 && frequency <= 150){currentfloor = 1;led1 = 1;}
sahabi 3:19106c977df1 56
sahabi 3:19106c977df1 57 if (currentfloor == requested_floor){
sahabi 3:19106c977df1 58 dc_motor.write(0.0f);
sahabi 3:19106c977df1 59 led1 = 0;
sahabi 3:19106c977df1 60 led2 = 0;
sahabi 3:19106c977df1 61 led3 = 0;
sahabi 3:19106c977df1 62 led4 = 0;
sahabi 3:19106c977df1 63 in1 = 0;
sahabi 3:19106c977df1 64 in2 = 0;
sahabi 3:19106c977df1 65 servo1.write(cw);
sahabi 3:19106c977df1 66 servo2.write(ccw);
sahabi 3:19106c977df1 67 wait(0.33);
sahabi 3:19106c977df1 68 servo1.write(stationary);
sahabi 3:19106c977df1 69 servo2.write(stationary);
sahabi 3:19106c977df1 70 busy = 0;
sahabi 3:19106c977df1 71 location = requested_floor;
sahabi 4:fba6c97a6192 72 sensor.fall(0);
sahabi 3:19106c977df1 73 }
sahabi 2:07f2fe858dbd 74
sahabi 0:69be3faae0a0 75 }
sahabi 2:07f2fe858dbd 76
sahabi 2:07f2fe858dbd 77 }
sahabi 1:28120714ad80 78 }
sahabi 0:69be3faae0a0 79 }
sahabi 1:28120714ad80 80
sahabi 0:69be3faae0a0 81 void moveUp(){
sahabi 3:19106c977df1 82 dc_motor.write(1.0f);
sahabi 0:69be3faae0a0 83 in1 = 1;
sahabi 0:69be3faae0a0 84 in2 = 0;
sahabi 0:69be3faae0a0 85 }
sahabi 0:69be3faae0a0 86
sahabi 0:69be3faae0a0 87 void moveDown(){
sahabi 3:19106c977df1 88
sahabi 3:19106c977df1 89 dc_motor.write(1.0f);
sahabi 0:69be3faae0a0 90 in1 = 0;
sahabi 0:69be3faae0a0 91 in2 = 1;
sahabi 0:69be3faae0a0 92 }
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 4:fba6c97a6192 112 if (busy == 0 && next > 0.5){
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 4:fba6c97a6192 118 sensor.fall(&serve);
sahabi 1:28120714ad80 119 }
sahabi 1:28120714ad80 120
sahabi 4:fba6c97a6192 121 else if (location < next ){
sahabi 1:28120714ad80 122 closeDoor();
sahabi 1:28120714ad80 123 moveUp();
sahabi 1:28120714ad80 124 busy = 1;
sahabi 4:fba6c97a6192 125 sensor.fall(&serve);
sahabi 1:28120714ad80 126 }
sahabi 0:69be3faae0a0 127 }
sahabi 1:28120714ad80 128 }
sahabi 0:69be3faae0a0 129
sahabi 4:fba6c97a6192 130 //void call1(void) { call(1); }
sahabi 4:fba6c97a6192 131 //void call2(void) { call(2); }
sahabi 4:fba6c97a6192 132 //void call3(void) { call(3); }
sahabi 4:fba6c97a6192 133 //void call4(void) { call(4); }
sahabi 4:fba6c97a6192 134 //void call5(void) { call(5); }
sahabi 0:69be3faae0a0 135
sahabi 0:69be3faae0a0 136
sahabi 0:69be3faae0a0 137 int main() {
sahabi 0:69be3faae0a0 138 servo1.period(0.02f);
sahabi 0:69be3faae0a0 139 servo2.period(0.02f);
sahabi 0:69be3faae0a0 140 servo1.write(stationary);
sahabi 0:69be3faae0a0 141 servo2.write(stationary);
sahabi 0:69be3faae0a0 142 in1.output();
sahabi 0:69be3faae0a0 143 in2.output();
sahabi 0:69be3faae0a0 144 in2 = 0;
sahabi 3:19106c977df1 145 in1 = 0;
sahabi 4:fba6c97a6192 146 // firstfloor.rise(&call1);
sahabi 4:fba6c97a6192 147 // secondfloor.rise(&call2);
sahabi 4:fba6c97a6192 148 // thirdfloor.rise(&call3);
sahabi 4:fba6c97a6192 149 // fourthfloor.rise(&call4);
sahabi 4:fba6c97a6192 150 // fifthfloor.rise(&call5);
sahabi 3:19106c977df1 151 location = 2;
sahabi 4:fba6c97a6192 152 //
sahabi 2:07f2fe858dbd 153
sahabi 3:19106c977df1 154 while(1){
sahabi 4:fba6c97a6192 155
sahabi 4:fba6c97a6192 156 while(busy == 0){
sahabi 4:fba6c97a6192 157
sahabi 4:fba6c97a6192 158 if (an.read()*3.3f > 0.59f && an.read()*3.3f < 0.7f ){requested_floor1 = 1;}
sahabi 4:fba6c97a6192 159 else if (an.read()*3.3f > 1.19f && an.read()*3.3f < 1.3f ){requested_floor1 = 2;}
sahabi 4:fba6c97a6192 160 else if (an.read()*3.3f > 1.79f && an.read()*3.3f < 1.9f ){requested_floor1 = 3;}
sahabi 4:fba6c97a6192 161 else if (an.read()*3.3f > 2.39f && an.read()*3.3f < 2.5f ){requested_floor1 = 4;}
sahabi 4:fba6c97a6192 162 else if (an.read()*3.3f > 2.99f && an.read()*3.3f < 3.1f ){requested_floor1 = 5;}
sahabi 4:fba6c97a6192 163 else{requested_floor1 = 0;}
sahabi 4:fba6c97a6192 164
sahabi 4:fba6c97a6192 165 if (an.read()*3.3f > 0.59f && an.read()*3.3f < 0.7f ){requested_floor2 = 1;}
sahabi 4:fba6c97a6192 166 else if (an.read()*3.3f > 1.19f && an.read()*3.3f < 1.3f ){requested_floor2 = 2;}
sahabi 4:fba6c97a6192 167 else if (an.read()*3.3f > 1.79f && an.read()*3.3f < 1.9f ){requested_floor2 = 3;}
sahabi 4:fba6c97a6192 168 else if (an.read()*3.3f > 2.39f && an.read()*3.3f < 2.5f ){requested_floor2 = 4;}
sahabi 4:fba6c97a6192 169 else if (an.read()*3.3f > 2.99f && an.read()*3.3f < 3.1f ){requested_floor2 = 5;}
sahabi 4:fba6c97a6192 170 else{requested_floor2 = 0;}
sahabi 4:fba6c97a6192 171
sahabi 4:fba6c97a6192 172 if (requested_floor1 != requested_floor2) {requested_floor = 0;}
sahabi 4:fba6c97a6192 173 else{requested_floor = requested_floor1;}
sahabi 4:fba6c97a6192 174 pc.printf("%f \n",an.read()*3.3f);
sahabi 4:fba6c97a6192 175 pc.printf("%d \n",requested_floor);
sahabi 4:fba6c97a6192 176 call(requested_floor);
sahabi 4:fba6c97a6192 177 }
sahabi 0:69be3faae0a0 178 }
sahabi 0:69be3faae0a0 179 }
sahabi 0:69be3faae0a0 180
sahabi 0:69be3faae0a0 181