Railway Challenge / Mbed OS Railway Challenge 2022-23

Railway Challenge 2022-23 Team code for Mbed Nucleo F767ZI.

Dependencies:   millis

motor.cpp@39:2438bf7f2590, 19 months ago (annotated)

Committer:
edizselay
Date:
Fri Nov 04 15:16:36 2022 +0000
Revision:
39:2438bf7f2590
Parent:
0:4788e1df7b55 
Test comment in main.cpp

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rwcjoliver 0:4788e1df7b55 1 #include <mbed.h>
rwcjoliver 0:4788e1df7b55 2 #include "definitions.h"
rwcjoliver 0:4788e1df7b55 3 #include "motor.h"
rwcjoliver 0:4788e1df7b55 4
rwcjoliver 0:4788e1df7b55 5 Motor::Motor (AnalogOut& motorAccelerator,
rwcjoliver 0:4788e1df7b55 6 AnalogOut& motorBrake,
rwcjoliver 0:4788e1df7b55 7 DigitalOut& keySwitch,
rwcjoliver 0:4788e1df7b55 8 DigitalOut& directionFwd,
rwcjoliver 0:4788e1df7b55 9 DigitalOut& directionRev,
rwcjoliver 0:4788e1df7b55 10 DigitalOut& footSwitch,
rwcjoliver 0:4788e1df7b55 11 DigitalOut& seatSwitch,
rwcjoliver 0:4788e1df7b55 12 DigitalOut& inchFwd,
rwcjoliver 0:4788e1df7b55 13 DigitalOut& speedLimit2,
rwcjoliver 0:4788e1df7b55 14 DigitalOut& speedLimit3) :
rwcjoliver 0:4788e1df7b55 15
rwcjoliver 0:4788e1df7b55 16 _motorAccelerator(motorAccelerator),
rwcjoliver 0:4788e1df7b55 17 _motorBrake(motorBrake),
rwcjoliver 0:4788e1df7b55 18 _keySwitch(keySwitch),
rwcjoliver 0:4788e1df7b55 19 _directionFwd(directionFwd),
rwcjoliver 0:4788e1df7b55 20 _directionRev(directionRev),
rwcjoliver 0:4788e1df7b55 21 _footSwitch(footSwitch),
rwcjoliver 0:4788e1df7b55 22 _seatSwitch(seatSwitch),
rwcjoliver 0:4788e1df7b55 23 _inchFwd(inchFwd),
rwcjoliver 0:4788e1df7b55 24 _speedLimit2(speedLimit2),
rwcjoliver 0:4788e1df7b55 25 _speedLimit3(speedLimit3)
rwcjoliver 0:4788e1df7b55 26 {
rwcjoliver 0:4788e1df7b55 27 _motorAccelerator = 0;
rwcjoliver 0:4788e1df7b55 28 _motorBrake = 0;
rwcjoliver 0:4788e1df7b55 29 // _contactMtr = 0;
rwcjoliver 0:4788e1df7b55 30 _keySwitch = 0;
rwcjoliver 0:4788e1df7b55 31 _directionFwd = 0;
rwcjoliver 0:4788e1df7b55 32 _directionRev = 0;
rwcjoliver 0:4788e1df7b55 33 _footSwitch = 0;
rwcjoliver 0:4788e1df7b55 34 _seatSwitch = 0;
rwcjoliver 0:4788e1df7b55 35 _inchFwd = 1;
rwcjoliver 0:4788e1df7b55 36 _speedLimit2 = 1;
rwcjoliver 0:4788e1df7b55 37 _speedLimit3 = 0; // SET MAX SPEED MODE BY DEFAULT
rwcjoliver 0:4788e1df7b55 38 }
rwcjoliver 0:4788e1df7b55 39
rwcjoliver 0:4788e1df7b55 40
rwcjoliver 0:4788e1df7b55 41 void Motor::turnOn() {
rwcjoliver 0:4788e1df7b55 42 _keySwitch = 1;
rwcjoliver 0:4788e1df7b55 43 // pc.printf("Motor Switched On\r\n");
rwcjoliver 0:4788e1df7b55 44 }
rwcjoliver 0:4788e1df7b55 45
rwcjoliver 0:4788e1df7b55 46 void Motor::turnOff() {
rwcjoliver 0:4788e1df7b55 47 _keySwitch = 0;
rwcjoliver 0:4788e1df7b55 48 // pc.printf("Motor Switched Off\r\n");
rwcjoliver 0:4788e1df7b55 49 }
rwcjoliver 0:4788e1df7b55 50
rwcjoliver 0:4788e1df7b55 51 void Motor::closeDeadman() {
rwcjoliver 0:4788e1df7b55 52 _footSwitch = 1;
rwcjoliver 0:4788e1df7b55 53 _seatSwitch = 1;
rwcjoliver 0:4788e1df7b55 54 }
rwcjoliver 0:4788e1df7b55 55
rwcjoliver 0:4788e1df7b55 56 void Motor::releaseDeadman() {
rwcjoliver 0:4788e1df7b55 57 _footSwitch = 0;
rwcjoliver 0:4788e1df7b55 58 _seatSwitch = 0;
rwcjoliver 0:4788e1df7b55 59 }
rwcjoliver 0:4788e1df7b55 60
rwcjoliver 0:4788e1df7b55 61 void Motor::setForward() {
rwcjoliver 0:4788e1df7b55 62 _directionFwd = 1;
rwcjoliver 0:4788e1df7b55 63 _directionRev = 0;
rwcjoliver 0:4788e1df7b55 64 // pc.printf("Motor Set to Forward\r\n");
rwcjoliver 0:4788e1df7b55 65 }
rwcjoliver 0:4788e1df7b55 66
rwcjoliver 0:4788e1df7b55 67 void Motor::setPark() {
rwcjoliver 0:4788e1df7b55 68 _directionFwd = 0;
rwcjoliver 0:4788e1df7b55 69 _directionRev = 0;
rwcjoliver 0:4788e1df7b55 70
rwcjoliver 0:4788e1df7b55 71 // pc.printf("Motor Set to Park\r\n");
rwcjoliver 0:4788e1df7b55 72 }
rwcjoliver 0:4788e1df7b55 73
rwcjoliver 0:4788e1df7b55 74 void Motor::setReverse() {
rwcjoliver 0:4788e1df7b55 75 _directionFwd = 0;
rwcjoliver 0:4788e1df7b55 76 _directionRev = 1;
rwcjoliver 0:4788e1df7b55 77 // pc.printf("Motor Set to Reverse\r\n");
rwcjoliver 0:4788e1df7b55 78 }
rwcjoliver 0:4788e1df7b55 79
rwcjoliver 0:4788e1df7b55 80 void Motor::engage() {
rwcjoliver 0:4788e1df7b55 81 // _contactMtr = 1;
rwcjoliver 0:4788e1df7b55 82 // pc.printf("Motor Contactor Engaged\r\n");
rwcjoliver 0:4788e1df7b55 83 }
rwcjoliver 0:4788e1df7b55 84
rwcjoliver 0:4788e1df7b55 85 void Motor::disengage() {
rwcjoliver 0:4788e1df7b55 86 // _contactMtr = 0;
rwcjoliver 0:4788e1df7b55 87
rwcjoliver 0:4788e1df7b55 88 setPark();
rwcjoliver 0:4788e1df7b55 89
rwcjoliver 0:4788e1df7b55 90 // pc.printf("Motor Disengaged\r\n");
rwcjoliver 0:4788e1df7b55 91 }
rwcjoliver 0:4788e1df7b55 92
rwcjoliver 0:4788e1df7b55 93 void Motor::setSpeedMode(int speed) {
rwcjoliver 0:4788e1df7b55 94 switch (speed) {
rwcjoliver 0:4788e1df7b55 95 case 0: // Clear limits
rwcjoliver 0:4788e1df7b55 96
rwcjoliver 0:4788e1df7b55 97 _inchFwd = 0;
rwcjoliver 0:4788e1df7b55 98 _speedLimit2 = 0;
rwcjoliver 0:4788e1df7b55 99 _speedLimit3 = 0;
rwcjoliver 0:4788e1df7b55 100
rwcjoliver 0:4788e1df7b55 101 // pc.printf("Motor Speed Cleared\r\n");
rwcjoliver 0:4788e1df7b55 102 break;
rwcjoliver 0:4788e1df7b55 103
rwcjoliver 0:4788e1df7b55 104 case 1: // Inch Forward
rwcjoliver 0:4788e1df7b55 105
rwcjoliver 0:4788e1df7b55 106 _inchFwd = 1;
rwcjoliver 0:4788e1df7b55 107 _speedLimit2 = 0;
rwcjoliver 0:4788e1df7b55 108 _speedLimit3 = 0;
rwcjoliver 0:4788e1df7b55 109
rwcjoliver 0:4788e1df7b55 110 // pc.printf("Motor Set to Inch Forward\r\n");
rwcjoliver 0:4788e1df7b55 111 break;
rwcjoliver 0:4788e1df7b55 112
rwcjoliver 0:4788e1df7b55 113 case 2: // Speed 2
rwcjoliver 0:4788e1df7b55 114
rwcjoliver 0:4788e1df7b55 115 _inchFwd = 0;
rwcjoliver 0:4788e1df7b55 116 _speedLimit2 = 1;
rwcjoliver 0:4788e1df7b55 117 _speedLimit3 = 0;
rwcjoliver 0:4788e1df7b55 118
rwcjoliver 0:4788e1df7b55 119 // pc.printf("Motor Set to Speed Limit 2\r\n");
rwcjoliver 0:4788e1df7b55 120 break;
rwcjoliver 0:4788e1df7b55 121
rwcjoliver 0:4788e1df7b55 122 case 3: // Speed 3
rwcjoliver 0:4788e1df7b55 123
rwcjoliver 0:4788e1df7b55 124 _inchFwd = 0;
rwcjoliver 0:4788e1df7b55 125 _speedLimit2 = 0;
rwcjoliver 0:4788e1df7b55 126 _speedLimit3 = 1;
rwcjoliver 0:4788e1df7b55 127
rwcjoliver 0:4788e1df7b55 128 // pc.printf("Motor Set to Speed Limit 3\r\n");
rwcjoliver 0:4788e1df7b55 129 break;
rwcjoliver 0:4788e1df7b55 130 }
rwcjoliver 0:4788e1df7b55 131 }
rwcjoliver 0:4788e1df7b55 132
rwcjoliver 0:4788e1df7b55 133 void Motor::throttle(float throttleRate) {
rwcjoliver 0:4788e1df7b55 134 // set the output voltage of the analog output pin specified as a percentage of Vcc (3.3V)
rwcjoliver 0:4788e1df7b55 135 _motorAccelerator = throttleRate; // Analog value between 0.0f and 1.0f
rwcjoliver 0:4788e1df7b55 136 // pc.printf("Throttling\r\n");
rwcjoliver 0:4788e1df7b55 137
rwcjoliver 0:4788e1df7b55 138 }
rwcjoliver 0:4788e1df7b55 139
rwcjoliver 0:4788e1df7b55 140 void Motor::brake(float brakeRate) {
rwcjoliver 0:4788e1df7b55 141 _motorBrake = brakeRate; // Analog value between 0.0f and 1.0f
rwcjoliver 0:4788e1df7b55 142 // pc.printf("Motor Braking\r\n");
rwcjoliver 0:4788e1df7b55 143 }