Chaitanya Devarakonda
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challenge-ChaiUpdated
My personal forkk
brakes.cpp@34:27f82e3d2426, 2022-06-22 (annotated)
- Committer:
- cdevarakonda
- Date:
- Wed Jun 22 10:43:32 2022 +0000
- Revision:
- 34:27f82e3d2426
- Parent:
- 30:c65bf90e8f47
Mbed repo updated;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cdevarakonda | 28:1086791972d0 | 1 | #include "brakes.h" |
cdevarakonda | 28:1086791972d0 | 2 | #include <mbed.h> |
cdevarakonda | 28:1086791972d0 | 3 | #include "definitions.h" |
cdevarakonda | 30:c65bf90e8f47 | 4 | Brakes::Brakes() |
cdevarakonda | 30:c65bf90e8f47 | 5 | { |
cdevarakonda | 30:c65bf90e8f47 | 6 | |
cdevarakonda | 30:c65bf90e8f47 | 7 | } |
cdevarakonda | 30:c65bf90e8f47 | 8 | void Brakes::FrontBrakeOn() //turns on front mechanical brake |
cdevarakonda | 28:1086791972d0 | 9 | { |
cdevarakonda | 28:1086791972d0 | 10 | brakeValve22=0; |
cdevarakonda | 28:1086791972d0 | 11 | brakeValve32=1; |
cdevarakonda | 28:1086791972d0 | 12 | } |
cdevarakonda | 28:1086791972d0 | 13 | |
cdevarakonda | 30:c65bf90e8f47 | 14 | void Brakes::RearBrakeOn() //turns on rear mechanical brake |
cdevarakonda | 28:1086791972d0 | 15 | { |
cdevarakonda | 28:1086791972d0 | 16 | brakeValve22=1; |
cdevarakonda | 28:1086791972d0 | 17 | brakeValve32=0; |
cdevarakonda | 28:1086791972d0 | 18 | } |
cdevarakonda | 30:c65bf90e8f47 | 19 | void Brakes::BrakesOn() //turns on both mechanical brakes |
cdevarakonda | 28:1086791972d0 | 20 | { |
cdevarakonda | 28:1086791972d0 | 21 | brakeValve22=0; |
cdevarakonda | 28:1086791972d0 | 22 | brakeValve32=0; |
cdevarakonda | 28:1086791972d0 | 23 | } |
cdevarakonda | 28:1086791972d0 | 24 | |
cdevarakonda | 30:c65bf90e8f47 | 25 | void Brakes::ParkMode(Motor motor) //Disengage motor and apply friction brakes |
cdevarakonda | 28:1086791972d0 | 26 | { |
cdevarakonda | 30:c65bf90e8f47 | 27 | motor.setPark(); |
cdevarakonda | 28:1086791972d0 | 28 | BrakesOn(); |
cdevarakonda | 28:1086791972d0 | 29 | } |
cdevarakonda | 30:c65bf90e8f47 | 30 | void Brakes::MechanicalBraking(int brakeRate, Motor motor) //friction braking cases |
cdevarakonda | 28:1086791972d0 | 31 | { |
cdevarakonda | 28:1086791972d0 | 32 | switch (brakeRate) { |
cdevarakonda | 28:1086791972d0 | 33 | case 0: // NO BRAKING |
cdevarakonda | 28:1086791972d0 | 34 | brakeValve32 = 1;//(PD_3) |
cdevarakonda | 28:1086791972d0 | 35 | brakeValve22 = 1;//(PC_0) |
cdevarakonda | 28:1086791972d0 | 36 | break; |
cdevarakonda | 28:1086791972d0 | 37 | |
cdevarakonda | 28:1086791972d0 | 38 | case 1: //HALF BRAKING |
cdevarakonda | 28:1086791972d0 | 39 | motor.throttle(0.0f); |
cdevarakonda | 28:1086791972d0 | 40 | RearBrakeOn(); |
cdevarakonda | 28:1086791972d0 | 41 | break; |
cdevarakonda | 28:1086791972d0 | 42 | |
cdevarakonda | 28:1086791972d0 | 43 | case 2 ... 4 : //FULL BRAKING |
cdevarakonda | 28:1086791972d0 | 44 | motor.throttle(0.0f); |
cdevarakonda | 28:1086791972d0 | 45 | BrakesOn(); |
cdevarakonda | 28:1086791972d0 | 46 | break; |
cdevarakonda | 28:1086791972d0 | 47 | |
cdevarakonda | 28:1086791972d0 | 48 | default: // NO BRAKING |
cdevarakonda | 28:1086791972d0 | 49 | brakeValve32 = 1;//(PD_3) |
cdevarakonda | 28:1086791972d0 | 50 | brakeValve22 = 1;//(PC_0) |
cdevarakonda | 28:1086791972d0 | 51 | break; |
cdevarakonda | 28:1086791972d0 | 52 | } |
cdevarakonda | 28:1086791972d0 | 53 | } |
cdevarakonda | 28:1086791972d0 | 54 | |
cdevarakonda | 30:c65bf90e8f47 | 55 | void Brakes::RegenControl(int ratecontrol,Motor motor) //graduated braking control |
cdevarakonda | 28:1086791972d0 | 56 | { |
cdevarakonda | 28:1086791972d0 | 57 | switch (ratecontrol) |
cdevarakonda | 28:1086791972d0 | 58 | { |
cdevarakonda | 28:1086791972d0 | 59 | default: |
cdevarakonda | 28:1086791972d0 | 60 | break; |
cdevarakonda | 28:1086791972d0 | 61 | |
cdevarakonda | 28:1086791972d0 | 62 | case 0: |
cdevarakonda | 28:1086791972d0 | 63 | motor.brake(0.0f); |
cdevarakonda | 28:1086791972d0 | 64 | break; |
cdevarakonda | 28:1086791972d0 | 65 | |
cdevarakonda | 28:1086791972d0 | 66 | case 1: |
cdevarakonda | 28:1086791972d0 | 67 | motor.brake(0.25f); |
cdevarakonda | 28:1086791972d0 | 68 | break; |
cdevarakonda | 28:1086791972d0 | 69 | |
cdevarakonda | 28:1086791972d0 | 70 | case 2: |
cdevarakonda | 28:1086791972d0 | 71 | motor.brake(0.5f); |
cdevarakonda | 28:1086791972d0 | 72 | break; |
cdevarakonda | 28:1086791972d0 | 73 | |
cdevarakonda | 28:1086791972d0 | 74 | case 3: |
cdevarakonda | 28:1086791972d0 | 75 | motor.brake(0.75f); |
cdevarakonda | 28:1086791972d0 | 76 | break; |
cdevarakonda | 28:1086791972d0 | 77 | |
cdevarakonda | 28:1086791972d0 | 78 | case 4: |
cdevarakonda | 28:1086791972d0 | 79 | motor.brake(1.0f); |
cdevarakonda | 28:1086791972d0 | 80 | break; |
cdevarakonda | 28:1086791972d0 | 81 | } |
cdevarakonda | 28:1086791972d0 | 82 | } |
cdevarakonda | 30:c65bf90e8f47 | 83 | void Brakes::EmergencyStop(Motor motor,RoundTrainCircuit rtc, bool emergencyStopActive) |
cdevarakonda | 30:c65bf90e8f47 | 84 | { |
cdevarakonda | 30:c65bf90e8f47 | 85 | if (emergencyStopActive == false) { |
cdevarakonda | 30:c65bf90e8f47 | 86 | |
cdevarakonda | 30:c65bf90e8f47 | 87 | emergencyStopActive = true; |
cdevarakonda | 30:c65bf90e8f47 | 88 | |
cdevarakonda | 30:c65bf90e8f47 | 89 | //Set brake throttle to zero before disconnected, think is why we had the runaway train imo |
cdevarakonda | 30:c65bf90e8f47 | 90 | motor.throttle(0.0f); |
cdevarakonda | 30:c65bf90e8f47 | 91 | |
cdevarakonda | 30:c65bf90e8f47 | 92 | //Disengage motor |
cdevarakonda | 30:c65bf90e8f47 | 93 | motor.disengage(); |
cdevarakonda | 30:c65bf90e8f47 | 94 | |
cdevarakonda | 30:c65bf90e8f47 | 95 | //Setting brakes to high |
cdevarakonda | 30:c65bf90e8f47 | 96 | brakeValve22=0; |
cdevarakonda | 30:c65bf90e8f47 | 97 | brakeValve32=0; |
cdevarakonda | 30:c65bf90e8f47 | 98 | |
cdevarakonda | 30:c65bf90e8f47 | 99 | if (rtc_output.read() == 1) { //Check RTC pin out |
cdevarakonda | 30:c65bf90e8f47 | 100 | rtc.getTriggerCause(); // Get RTC input status |
cdevarakonda | 30:c65bf90e8f47 | 101 | } |
cdevarakonda | 30:c65bf90e8f47 | 102 | } |
cdevarakonda | 30:c65bf90e8f47 | 103 | } |