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Dependencies:   mbed MPU6050

sm_esc.cpp

Committer:
GaspardD
Date:
2019-09-28
Revision:
1:8faddee0e52f
Child:
2:e9d928fd327a

File content as of revision 1:8faddee0e52f:

#include "sm_esc.h"

PwmOut pwm_ESC(PD_12);
DigitalOut relay_ESC(PG_0);
E_STATE_ESC e_stateESC;

void init_sm_esc()
{
    e_stateESC = ESC_DISABLED;
    return;
}

void update_sm_esc()
{
    E_STATE_ESC next_state;

    switch(e_stateESC) {
        case ESC_DISABLED:
            if(b_UTILS_flag_button) {
                next_state = ESC_INIT;
                b_UTILS_flag_button = false;
            }
            break;
        case ESC_INIT:
            next_state = ESC_COMMAND;
            break;
        case ESC_COMMAND:
        if(b_UTILS_flag_emergency_stop)
        {
            next_state = ESC_DISABLED;
        }
            break;
        default:
        break;
    }

    e_stateESC = next_state;
    return;
}

void output_sm_esc()
{
     switch(e_stateESC) {
        case ESC_DISABLED:
            relay_ESC = 0;
            break;
        case ESC_INIT:
            relay_ESC = 1;
            wait(0.2);
            pwm_ESC.period_ms(ESC_PERIOD_DURATION_MS);          //20 ms is default
            pwm_ESC.pulsewidth_us(600);
            wait(1);
            break;
        case ESC_COMMAND:
            pc.printf("send pulse 1500 to esc");
            pwm_ESC.pulsewidth_us(1500);
            wait(1);
            pc.printf("send pulse 1600 to esc");
            pwm_ESC.pulsewidth_us(1600);
            wait(1);
            pc.printf("send pulse 1700 to esc");
            pwm_ESC.pulsewidth_us(1700);
            wait(1);
            pc.printf("send pulse 1800 to esc");
            pwm_ESC.pulsewidth_us(1800);
            wait(1);
            pc.printf("send pulse 1900 to esc");
            pwm_ESC.pulsewidth_us(1900);
            wait(1);
            pc.printf("send pulse 2000 to esc");
            pwm_ESC.pulsewidth_us(2000);
            wait(1);
            pc.printf("emergency stop");
            b_UTILS_flag_emergency_stop = true;
            break;
        default:
        break;
    }
    
    return;
}