Diff: throttle.cpp

Revision:

3:dc564aaf8a81

Parent:

2:e2c3c7340fb3

--- a/throttle.cpp	Mon Aug 20 05:18:03 2012 +0000
+++ b/throttle.cpp	Sat Aug 25 20:09:35 2012 +0000
@@ -1,60 +1,62 @@
-#include "throttle.h"
-
-AnalogIn gripThrottle(p17);
-AnalogOut throttleOut(p18); 
-
-Throttle* Throttle::instance = NULL;
-
-Throttle *Throttle::getThrottle(float *I, float *v_f, float *v_r, float *cadence, AnalogIn* break_l, AnalogIn *break_r) {
-    if (instance == NULL) {
-        instance = new Throttle(I, v_f, v_r, cadence, break_l, break_r);
-    }
-    return instance;
-}
-
-Throttle::Throttle(float *I, float *v_f, float *v_r, float *cadence, AnalogIn* break_l, AnalogIn *break_r) :
-                   mode(off), state(waiting),
-                   I(I), v_f(v_f), v_r(v_r), cadence(cadence),
-                   brkl(break_l), brkr(break_r),
-                   target(0.0f), iLimit(0.0f), speedLimit(0.0f),
-                   enforceSpeedLimit(false)
-                   {
-    throttleOut = 0.0f;
-    tick.attach(this, &Throttle::onTick, 0.001);
-}
-
-Throttle::~Throttle() {
-    tick.detach();
-    throttleOut = 0.0f;
-}
-
-void Throttle::onTick() {
-    if (brkl->read() < break_inhibit_threshold && brkr->read() < break_inhibit_threshold) {
-        switch(mode) {
-        case off:
-            throttleOut = 0.0f;
-            break;
-        case raw:
-            throttleOut = gripThrottle;
-            break;
-        case cruise_raw:
-            throttleOut = target;
-            break;
-        default:
-            throttleOut = 0.0f;
-        }
-    }
-    else {
-        state = inhibited;
-    }
-}
-
-void Throttle::setMode(ThrottleMode m) { mode = m; }
-
-void Throttle::setILimit(float I) { iLimit = I; }
-
-void Throttle::setSpeedLimit(float v, bool enforce) {
-    speedLimit = v;
-    enforceSpeedLimit = enforce;
-}
-
+#include "throttle.h"
+
+AnalogIn gripThrottle(p17);
+AnalogOut throttleOut(p18); 
+DigitalIn gripButton(p6);
+
+Throttle* Throttle::instance = NULL;
+
+Throttle *Throttle::getThrottle(float *I, float *v_f, float *v_r, float *cadence, AnalogIn* break_l, AnalogIn *break_r) {
+    if (instance == NULL) {
+        instance = new Throttle(I, v_f, v_r, cadence, break_l, break_r);
+    }
+    return instance;
+}
+
+Throttle::Throttle(float *I, float *v_f, float *v_r, float *cadence, AnalogIn* break_l, AnalogIn *break_r) :
+                   mode(off), state(waiting),
+                   I(I), v_f(v_f), v_r(v_r), cadence(cadence),
+                   brkl(break_l), brkr(break_r),
+                   target(0.0f), iLimit(0.0f), speedLimit(0.0f),
+                   enforceSpeedLimit(false)
+                   {
+    throttleOut = 0.0f;
+    gripButton.mode(PullUp);
+    tick.attach(this, &Throttle::onTick, 0.001);
+}
+
+Throttle::~Throttle() {
+    tick.detach();
+    throttleOut = 0.0f;
+}
+
+void Throttle::onTick() {
+    if (brkl->read() < break_inhibit_threshold && brkr->read() < break_inhibit_threshold) {
+        switch(mode) {
+        case off:
+            throttleOut = 0.0f;
+            break;
+        case raw:
+            throttleOut = gripThrottle;
+            break;
+        case cruise_raw:
+            throttleOut = target;
+            break;
+        default:
+            throttleOut = 0.0f;
+        }
+    }
+    else {
+        state = inhibited;
+    }
+}
+
+void Throttle::setMode(ThrottleMode m) { mode = m; }
+
+void Throttle::setILimit(float I) { iLimit = I; }
+
+void Throttle::setSpeedLimit(float v, bool enforce) {
+    speedLimit = v;
+    enforceSpeedLimit = enforce;
+}
+