Railway Challenge / Mbed 2 deprecated challenge-RegenBrakingUpdate

Updated Regen Braking Logic.

Dependencies:   mbed millis

challenge.h@13:a9793222af20, 2022-04-27 (annotated)

Committer:
cdevarakonda
Date:
Wed Apr 27 09:04:11 2022 +0000
Revision:
13:a9793222af20
Parent:
0:4788e1df7b55
Child:
15:4976d145fbd9
Uncommented half mechanical braking state in throttle control function.; ; uncommented time to reach target variable in autoStopTriggered() and autoStopControl() functions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rwcjoliver 0:4788e1df7b55 1 #ifndef _CHALLENGE_H_
rwcjoliver 0:4788e1df7b55 2 #define _CHALLENGE_H_
rwcjoliver 0:4788e1df7b55 3
rwcjoliver 0:4788e1df7b55 4 #include <mbed.h>
rwcjoliver 0:4788e1df7b55 5 #include "dashboard.h"
rwcjoliver 0:4788e1df7b55 6 #include "remoteControl.h"
rwcjoliver 0:4788e1df7b55 7 #include "motor.h"
rwcjoliver 0:4788e1df7b55 8
rwcjoliver 0:4788e1df7b55 9 class ChallengeMode {
rwcjoliver 0:4788e1df7b55 10 public:
rwcjoliver 0:4788e1df7b55 11 // CONSTURCTOR
cdevarakonda 13:a9793222af20 12 ChallengeMode(InterruptIn& autoStopTrigger, Dashboard& dashboard, Remote& remote, Motor& motor1);
rwcjoliver 0:4788e1df7b55 13
rwcjoliver 0:4788e1df7b55 14 // FUNCTIONS
rwcjoliver 0:4788e1df7b55 15 // Regen Mode
rwcjoliver 0:4788e1df7b55 16 void regenThrottleOn();
rwcjoliver 0:4788e1df7b55 17 void regenThrottleOff();
rwcjoliver 0:4788e1df7b55 18 bool regenBrakingOn();
rwcjoliver 0:4788e1df7b55 19 void regenBrakingOff();
rwcjoliver 0:4788e1df7b55 20
rwcjoliver 0:4788e1df7b55 21 // Auto-Stop Mode
rwcjoliver 0:4788e1df7b55 22 void autoStopOn();
rwcjoliver 0:4788e1df7b55 23 void autoStopOff();
rwcjoliver 0:4788e1df7b55 24 void autoStopTriggered();
rwcjoliver 0:4788e1df7b55 25 void autoStopControl();
rwcjoliver 0:4788e1df7b55 26
rwcjoliver 0:4788e1df7b55 27 // Innovation Mode
rwcjoliver 0:4788e1df7b55 28 void innovationOn();
rwcjoliver 0:4788e1df7b55 29 void innovationOff();
rwcjoliver 0:4788e1df7b55 30 int innovationControl(int requestedThrottle);
rwcjoliver 0:4788e1df7b55 31
rwcjoliver 0:4788e1df7b55 32 // VARIABLES
rwcjoliver 0:4788e1df7b55 33 bool regenThrottleActive;
rwcjoliver 0:4788e1df7b55 34 bool regenBrakingActive;
rwcjoliver 0:4788e1df7b55 35 bool autoStopActive;
rwcjoliver 0:4788e1df7b55 36 bool innovationActive;
rwcjoliver 0:4788e1df7b55 37
rwcjoliver 0:4788e1df7b55 38 int autoStopCruiseSpeed;
rwcjoliver 0:4788e1df7b55 39 int autoStopThrottle;
rwcjoliver 0:4788e1df7b55 40 bool autoStopInProgress;
rwcjoliver 0:4788e1df7b55 41
rwcjoliver 0:4788e1df7b55 42 private:
rwcjoliver 0:4788e1df7b55 43 InterruptIn& _autoStopTrigger;
rwcjoliver 0:4788e1df7b55 44 Dashboard& _dashboard;
rwcjoliver 0:4788e1df7b55 45 Remote& _remote;
rwcjoliver 0:4788e1df7b55 46 Motor& _motor1;
rwcjoliver 0:4788e1df7b55 47 // Motor& _motor2;
rwcjoliver 0:4788e1df7b55 48
rwcjoliver 0:4788e1df7b55 49 // AutoStop
rwcjoliver 0:4788e1df7b55 50 float targetDistance;
rwcjoliver 0:4788e1df7b55 51 float remainingDistance;
rwcjoliver 0:4788e1df7b55 52
rwcjoliver 0:4788e1df7b55 53 // float timeToReachTarget;
rwcjoliver 0:4788e1df7b55 54 float decelerationGradient;
rwcjoliver 0:4788e1df7b55 55 float requiredSpeed;
rwcjoliver 0:4788e1df7b55 56
rwcjoliver 0:4788e1df7b55 57 // Innovation
rwcjoliver 0:4788e1df7b55 58 int innovationDistanceLimit; // Distance(mm) from IR sensors to apply brakes
rwcjoliver 0:4788e1df7b55 59 bool stopLoco;
rwcjoliver 0:4788e1df7b55 60
rwcjoliver 0:4788e1df7b55 61 // IR Output voltages at various distances (for calibration purposes)
rwcjoliver 0:4788e1df7b55 62 float voltageAt5500;
rwcjoliver 0:4788e1df7b55 63 float voltageAt5000;
rwcjoliver 0:4788e1df7b55 64 float voltageAt4500;
rwcjoliver 0:4788e1df7b55 65 float voltageAt4000;
rwcjoliver 0:4788e1df7b55 66 float voltageAt3500;
rwcjoliver 0:4788e1df7b55 67 float voltageAt3000;
rwcjoliver 0:4788e1df7b55 68 float voltageAt2500;
rwcjoliver 0:4788e1df7b55 69 float voltageAt2000;
rwcjoliver 0:4788e1df7b55 70 float voltageAt1500;
rwcjoliver 0:4788e1df7b55 71 float voltageAt1000;
rwcjoliver 0:4788e1df7b55 72 float voltageAt500;
rwcjoliver 0:4788e1df7b55 73 };
rwcjoliver 0:4788e1df7b55 74
rwcjoliver 0:4788e1df7b55 75 #endif