Diff: brakes.cpp

Revision:

28:1086791972d0

Child:

30:c65bf90e8f47

diff -r 5f801d4ca461 -r 1086791972d0 brakes.cpp
--- /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;
+      }
+    }