Railway Challenge
/
challenge-ChaiUpdated
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Diff: brakes.cpp
- Revision:
- 6:d0ba4c659e9c
diff -r 1911475688a8 -r d0ba4c659e9c brakes.cpp
--- /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