Team 9 / Motor

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Diff: Motor.cpp

Revision:
4:d5b4ba5454d4
Parent:
3:8f4f4d3a91bc
Child:
5:38487ddb0fbf
--- a/Motor.cpp	Sat Apr 25 02:42:23 2015 +0000
+++ b/Motor.cpp	Mon Apr 27 23:53:44 2015 +0000
@@ -1,4 +1,5 @@
-        #include "Motor.h"
+#include "Motor.h"
+#define BRK_THRESH 1.3 //in m/s
 
 /* Theory of operation of the tachometer reading system
 
@@ -97,7 +98,8 @@
                    float iLimit, 
                    volatile float ki, 
                    volatile float kp, 
-                   PwmOut *motor)
+                   PwmOut *motor,
+                   DigitalOut *brk)
 {
     
     float delta_spd = target_spd - actual_spd;
@@ -112,5 +114,11 @@
     }
     
     // PI controller!
-    motor->write(kp * delta_spd + ki * (*iState));    
+    if (delta_spd < -BRK_THRESH) {
+        motor->write(0);
+        brk->write(1);
+    } else {
+        brk->write(0);
+        motor->write(kp * delta_spd + ki * (*iState));
+    }
 }