Diff: brakes.cpp

Revision:

6:d0ba4c659e9c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/brakes.cpp	Wed Apr 13 12:39:00 2022 +0000
@@ -0,0 +1,91 @@
+void brakeControl(int brakeRate) {
+    if (driveMode == 2) {   // PARK MODE
+        //  BREAK RATE LEVEL 1
+        speedControl(0);
+        brakeValve32 = 0;
+        brakeValve22 = 1;
+
+    }
+    else {
+        
+        if (challenge.regenBrakingActive == true) { // REGEN BRAKING WITH OVERVOLTAGE SAFETY CHECK
+            if (brakeRate > 0) {
+               motor1.setPark();
+            }
+            else {
+                motor1.setForward();
+            }
+           
+//        }
+        }
+        else {  // MECHANICAL BRAKING 
+            switch (brakeRate) {
+                //case 0:     // NO BRAKING
+                  //  brakeValve32 = 1;//(PF_2)
+                    //brakeValve22 = 1;//(PG_1)
+                    //break;
+                    
+                case 1:           //One brake high 
+                    motor1.throttle(0.0f);
+                    brakeValve32 = 0;//(PF_2)
+                    brakeValve22 = 1;//(PG_1)
+                    break;
+                case 2 ... 4 :    //Two brake high
+                    motor1.throttle(0.0f);
+                    brakeValve32 = 0;//(PF_2)
+                    brakeValve22 = 0;//(PG_1)
+                    break;
+                    
+
+//                case 1:
+//                    motor1.throttle(0.0f);
+//                    brakeValve32 = 0;
+//                    if (pressureSwitch1.read() == 0) {
+//                        brakeValve22 = 0;
+//                        pc.printf("Pressure 1 Reached");
+//                    }
+//                    else {
+//                        brakeValve22 = 1;   
+//                        pc.printf("Braking Level 1\r\n");
+//                    }
+//                    break;
+                    
+//                case 2:
+//                    motor1.throttle(0.0f);
+//                    brakeValve32 = 0;
+//                    if (pressureSwitch2.read() == 0) {
+//                        brakeValve22 = 0;
+//                        pc.printf("Pressure 2 Reached");
+//                    }
+//                    else {
+//                        brakeValve22 = 1;   
+//                        pc.printf("Braking Level 2\r\n");
+//                    }
+//                    
+//                    break;
+//                    
+//                case 2 ... 4:
+//                    motor1.throttle(0.0f);
+//                    brakeValve32 = 0;
+//                    brakeValve22 = 1;
+                    
+//                    if (pressureSwitch3.read() == 0) {
+//                        brakeValve22 = 0;
+//                        pc.printf("Pressure 3 Reached");
+//                    }
+//                    else {
+//                        brakeValve22 = 1;  
+//                        pc.printf("Braking Level 3\r\n");
+//                    }
+//                    break;
+                    
+                    
+                default:    // NO BRAKING
+                    brakeValve32 = 1;
+                    brakeValve22 = 1;
+                    break;
+            }
+        }
+    }   
+    return;
+}
\ No newline at end of file