Railway Challenge
/
challenge-ChaiUpdated
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Diff: brakes.cpp
- Revision:
- 28:1086791972d0
- Child:
- 30:c65bf90e8f47
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/brakes.cpp Wed Jun 15 13:36:11 2022 +0000
@@ -0,0 +1,77 @@
+#include "brakes.h"
+#include <mbed.h>
+#include "definitions.h"
+void Brakes::FrontBrakeOn()
+{
+ brakeValve22=0;
+ brakeValve32=1;
+}
+
+void Brakes::RearBrakeOn()
+{
+ brakeValve22=1;
+ brakeValve32=0;
+}
+void Brakes::BrakesOn()
+{
+ brakeValve22=0;
+ brakeValve32=0;
+}
+
+void Brakes::ParkMode()
+{
+ BrakesOn();
+}
+void Brakes::MechanicalBraking(int brakeRate, Motor motor)
+{
+switch (brakeRate) {
+ case 0: // NO BRAKING
+ brakeValve32 = 1;//(PD_3)
+ brakeValve22 = 1;//(PC_0)
+ break;
+
+ case 1: //HALF BRAKING
+ motor.throttle(0.0f);
+ RearBrakeOn();
+ break;
+
+ case 2 ... 4 : //FULL BRAKING
+ motor.throttle(0.0f);
+ BrakesOn();
+ break;
+
+ default: // NO BRAKING
+ brakeValve32 = 1;//(PD_3)
+ brakeValve22 = 1;//(PC_0)
+ break;
+ }
+}
+
+void Brakes::RegenControl(int ratecontrol,Motor motor)
+{
+ switch (ratecontrol)
+ {
+ default:
+ break;
+
+ case 0:
+ motor.brake(0.0f);
+ break;
+
+ case 1:
+ motor.brake(0.25f);
+ break;
+
+ case 2:
+ motor.brake(0.5f);
+ break;
+
+ case 3:
+ motor.brake(0.75f);
+ break;
+
+ case 4:
+ motor.brake(1.0f);
+ break;
+ }
+ }