Diff: sm_esc.cpp

Revision:

8:f23601373e8b

Parent:

7:23bb20892c8c

Child:

9:1b54bac6d9a7

--- a/sm_esc.cpp	Sun Sep 29 20:22:43 2019 +0000
+++ b/sm_esc.cpp	Wed Oct 02 22:25:12 2019 +0000
@@ -3,23 +3,22 @@
 
 PwmOut pwm_ESC(PD_12);
 DigitalOut relay_ESC(PG_0);
-E_STATE_ESC e_stateESC;
+E_STATE_ESC e_ESC_state;
 Timer t_emergency_brake;
-int pulsewidth_test = 1650;
 
 void init_sm_esc()
 {
-    e_stateESC = ESC_DISABLED;
+    e_ESC_state = ESC_DISABLED;
     return;
 }
 
 void update_sm_esc()
 {
-    E_STATE_ESC next_state = e_stateESC;
+    E_STATE_ESC next_state = e_ESC_state;
 
-    switch(e_stateESC) {
+    switch(e_ESC_state) {
         case ESC_DISABLED:
-            if(b_UTILS_flag_button && !b_UTILS_flag_emergency_stop) {
+            if(b_UTILS_flag_button_ESC && !b_UTILS_flag_emergency_stop) {
                 next_state = ESC_INIT;
             }
             break;
@@ -35,18 +34,18 @@
             break;
     }
 
-    e_stateESC = next_state;
+    e_ESC_state = next_state;
     return;
 }
 
 void output_sm_esc()
 {
-    switch(e_stateESC) {
+    switch(e_ESC_state) {
         case ESC_DISABLED:
             if(b_UTILS_flag_emergency_stop) {
-                pc.printf("EMERGENCY STOP\r\n");
+                rs_UTILS_pc.printf("EMERGENCY STOP\r\n");
                 b_UTILS_flag_emergency_stop = false;
-                if(b_chassis_with_pushbutton) {
+                if(b_CHASSIS_with_pushbutton) {
                     relay_ESC = 1;
                     wait(0.5);
                 }
@@ -55,14 +54,13 @@
             break;
 
         case ESC_INIT:
-            pc.printf("Init esc\r\n");
-            odroid.printf("pulsewidth_test: %d\r\n",pulsewidth_test);
-            b_UTILS_flag_button = false;
+            rs_UTILS_pc.printf("Init esc\r\n");
+            b_UTILS_flag_button_ESC = false;
             pwm_ESC.period_ms(ESC_PERIOD_DURATION_MS);          //20 ms is default
             pwm_ESC.pulsewidth_us(0);
 
             relay_ESC = 1;
-            if(b_chassis_with_pushbutton) {
+            if(b_CHASSIS_with_pushbutton) {
                 wait(0.5);
                 relay_ESC = 0;
             }
@@ -79,25 +77,15 @@
             break;
 
         case ESC_COMMAND:
-            if(t_emergency_brake.read_ms() < 2000) {
-                pwm_ESC.pulsewidth_us(pulsewidth_test);
-            } else {
-                pc.printf("emergency stop flag raised\r\n");
-                b_UTILS_flag_emergency_stop = true;
-                t_emergency_brake.stop();
-                t_emergency_brake.reset();
-            }
-            /*switch(e_stateSections) {
+            switch(e_SECTIONS_state) {
                 case RUNNING_SECTION:
-                    pwm_ESC.pulsewidth_us(1660);
+                    pwm_ESC.pulsewidth_us(s_UTILS_currentSection->targetSpeed_mps);
                     break;
                 case STOPPED:
-                    pc.printf("emergency stop flag raised\r\n");
-                    b_UTILS_flag_emergency_stop = true;
                     break;
                 default:
                     break;
-            }*/
+            }
             break;
         default:
             break;