brakes.cpp

00001 #include "brakes.h"
00002 #include <mbed.h>
00003 #include "definitions.h"
00004 Brakes::Brakes()
00005 {
00006 
00007 }
00008 void Brakes::FrontBrakeOn() //turns on front mechanical brake
00009 {
00010     brakeValve22=0;
00011     brakeValve32=1;
00012 }
00013 
00014 void Brakes::RearBrakeOn() //turns on rear mechanical brake
00015 {
00016     brakeValve22=1;
00017     brakeValve32=0;
00018 }
00019 void Brakes::BrakesOn() //turns on both mechanical brakes
00020 {
00021     brakeValve22=0;
00022     brakeValve32=0;
00023 }
00024 
00025 void Brakes::ParkMode(Motor motor) //Disengage motor and apply friction brakes
00026 {
00027      motor.setPark();
00028      BrakesOn();
00029 }
00030 void Brakes::MechanicalBraking(int brakeRate, Motor motor) //friction braking cases
00031 {
00032 switch (brakeRate) {
00033         case 0:     // NO BRAKING
00034           brakeValve32 = 1;//(PD_3)
00035           brakeValve22 = 1;//(PC_0)
00036           break;
00037 
00038         case 1:           //HALF BRAKING
00039           motor.throttle(0.0f);
00040           RearBrakeOn();
00041           break;
00042 
00043         case 2 ... 4 :    //FULL BRAKING
00044           motor.throttle(0.0f);
00045           BrakesOn();
00046           break;
00047 
00048         default:    // NO BRAKING
00049           brakeValve32 = 1;//(PD_3)
00050           brakeValve22 = 1;//(PC_0)
00051           break;
00052           }
00053 }
00054 
00055 void Brakes::RegenControl(int ratecontrol,Motor motor) //graduated braking control
00056 {
00057     switch (ratecontrol)
00058     {
00059           default:
00060             break;
00061             
00062             case 0:
00063             motor.brake(0.0f);
00064             break;
00065 
00066             case 1:
00067             motor.brake(0.25f);
00068             break;
00069             
00070             case 2:
00071             motor.brake(0.5f);
00072             break;
00073 
00074             case 3:
00075             motor.brake(0.75f);
00076             break;
00077             
00078             case 4:
00079             motor.brake(1.0f);
00080             break;
00081       }
00082     }
00083 void Brakes::EmergencyStop(Motor motor,RoundTrainCircuit rtc, bool emergencyStopActive)
00084 {
00085     if (emergencyStopActive == false) {
00086 
00087     emergencyStopActive = true;
00088     
00089     //Set brake throttle to zero before disconnected, think is why we had the runaway train imo
00090     motor.throttle(0.0f);
00091 
00092     //Disengage motor
00093     motor.disengage();
00094 
00095     //Setting brakes to high
00096     brakeValve22=0;
00097     brakeValve32=0;
00098     
00099     if (rtc_output.read() == 1) {  //Check RTC pin out
00100       rtc.getTriggerCause();        // Get RTC input status
00101     }
00102   }
00103 }