Diff: throttle.cpp

Revision:

2:e2c3c7340fb3

Child:

3:dc564aaf8a81

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/throttle.cpp	Mon Aug 20 05:18:03 2012 +0000
@@ -0,0 +1,60 @@
+#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;
+}
+