Mohammed Alshiekh
/
elevator_with_queue
course work
elevator.cpp
- Committer:
- sahabi
- Date:
- 2015-10-09
- Revision:
- 5:15bb8f6b6d85
- Parent:
- 4:fba6c97a6192
- Child:
- 6:1f9baf8d833e
File content as of revision 5:15bb8f6b6d85:
#include "mbed.h" Serial pc(USBTX,USBRX); PwmOut dc_motor(p23); PwmOut servo1(p21); PwmOut servo2(p22); DigitalInOut in1(p5); DigitalInOut in2(p6); AnalogIn an(p16); InterruptIn firstfloor(p15); InterruptIn secondfloor(p8); InterruptIn thirdfloor(p9); InterruptIn fourthfloor(p10); InterruptIn fifthfloor(p11); InterruptIn sensor(p12); DigitalOut led4(LED4); DigitalOut led3(LED3); DigitalOut led2(LED2); DigitalOut led1(LED1); int first = 0; Timer time1; int once = 0; float stationary = 0.075; float ccw = 0.085; // counter clock-wise float cw = 0.065; // clock-wise int reached = 0; int location; float frequency; int requested_floor1, requested_floor2, requested_floor; int busy = 0; int currentfloor; void serve(){ if(busy == 1){ if (first == 0){ time1.reset(); time1.start(); first = 1; } else if (first == 1){ time1.stop(); first = 0; once++; frequency = 1./time1.read(); if (once == 2){ once = 0; if (frequency >= 900 && frequency <= 1100){currentfloor = 5;} else if (frequency >= 600 && frequency <= 800){currentfloor = 4;led4 = 1;} else if (frequency >= 400 && frequency <= 590){currentfloor = 3;led3 = 1;} else if (frequency >= 200 && frequency <= 300){currentfloor = 2;led2 = 1;} else if (frequency >= 50 && frequency <= 150){currentfloor = 1;} if (currentfloor == requested_floor){ dc_motor.write(0.0f); led1 = 0; led2 = 0; led3 = 0; led4 = 0; in1 = 0; in2 = 0; servo1.write(cw); servo2.write(ccw); wait(0.33); servo1.write(stationary); servo2.write(stationary); busy = 0; location = requested_floor; sensor.fall(0); } } } } } void moveUp(){ dc_motor.write(1.0f); in1 = 1; in2 = 0; } void moveDown(){ dc_motor.write(1.0f); in1 = 0; in2 = 1; } void closeDoor(){ servo1.write(ccw); servo2.write(cw); wait(0.33); servo1.write(stationary); servo2.write(stationary); } void openDoor(){ servo1.write(cw); servo2.write(ccw); wait(0.33); servo1.write(stationary); servo2.write(stationary); } void call(int next) { if (busy == 0 && next > 0.5){ requested_floor = next; if (location > next){ closeDoor(); moveDown(); busy = 1; led1 = 1; sensor.fall(&serve); } else if (location < next ){ closeDoor(); moveUp(); busy = 1; led1 = 1; sensor.fall(&serve); } } } //void call1(void) { call(1); } //void call2(void) { call(2); } //void call3(void) { call(3); } //void call4(void) { call(4); } //void call5(void) { call(5); } int main() { servo1.period(0.02f); servo2.period(0.02f); servo1.write(stationary); servo2.write(stationary); in1.output(); in2.output(); in2 = 0; in1 = 0; // firstfloor.rise(&call1); // secondfloor.rise(&call2); // thirdfloor.rise(&call3); // fourthfloor.rise(&call4); // fifthfloor.rise(&call5); location = 2; // while(1){ while(busy == 0){ if (an.read()*3.3f > 0.62f && an.read()*3.3f < 1.0f ){requested_floor1 = 1;} else if (an.read()*3.3f > 1.20f && an.read()*3.3f < 1.60f ){requested_floor1 = 2;} else if (an.read()*3.3f > 1.70f && an.read()*3.3f < 2.3f ){requested_floor1 = 3;} else if (an.read()*3.3f > 2.4f && an.read()*3.3f < 2.9f ){requested_floor1 = 4;} else if (an.read()*3.3f > 3.0f && an.read()*3.3f < 3.5f ){requested_floor1 = 5;} else{requested_floor1 = 0;} if (an.read()*3.3f > 0.62f && an.read()*3.3f < 1.0f ){requested_floor2 = 1;} else if (an.read()*3.3f > 1.20f && an.read()*3.3f < 1.60f ){requested_floor2 = 2;} else if (an.read()*3.3f > 1.70f && an.read()*3.3f < 2.3f ){requested_floor2 = 3;} else if (an.read()*3.3f > 2.4f && an.read()*3.3f < 2.9f ){requested_floor2 = 4;} else if (an.read()*3.3f > 3.0f && an.read()*3.3f < 3.5f ){requested_floor2 = 5;} else{requested_floor2 = 0;} if (requested_floor1 != requested_floor2) {requested_floor = 0;} else{requested_floor = requested_floor1;} pc.printf("%f \n",an.read()*3.3f); pc.printf("%d \n",requested_floor); call(requested_floor); } } }