Diff: motor.cpp

Revision:

0:4788e1df7b55

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.cpp	Fri Mar 13 11:48:04 2020 +0000
@@ -0,0 +1,143 @@
+#include <mbed.h>
+#include "definitions.h"
+#include "motor.h"
+
+Motor::Motor   (AnalogOut& motorAccelerator,
+                AnalogOut& motorBrake,
+                DigitalOut& keySwitch,
+                DigitalOut& directionFwd,
+                DigitalOut& directionRev,
+                DigitalOut& footSwitch,
+                DigitalOut& seatSwitch,
+                DigitalOut& inchFwd,
+                DigitalOut& speedLimit2,
+                DigitalOut& speedLimit3) : 
+                
+                _motorAccelerator(motorAccelerator),
+                _motorBrake(motorBrake),
+                _keySwitch(keySwitch),
+                _directionFwd(directionFwd),
+                _directionRev(directionRev),
+                _footSwitch(footSwitch),
+                _seatSwitch(seatSwitch),
+                _inchFwd(inchFwd),
+                _speedLimit2(speedLimit2),
+                _speedLimit3(speedLimit3)
+                {
+                    _motorAccelerator = 0;
+                    _motorBrake = 0;
+//                    _contactMtr = 0;
+                    _keySwitch = 0;
+                    _directionFwd = 0;
+                    _directionRev = 0;
+                    _footSwitch = 0;
+                    _seatSwitch = 0;
+                    _inchFwd = 1;
+                    _speedLimit2 = 1;
+                    _speedLimit3 = 0;   // SET MAX SPEED MODE BY DEFAULT
+                }
+
+
+void Motor::turnOn() {
+    _keySwitch = 1;
+//    pc.printf("Motor Switched On\r\n");  
+}
+
+void Motor::turnOff() {
+    _keySwitch = 0;
+//    pc.printf("Motor Switched Off\r\n");  
+}
+
+void Motor::closeDeadman() {
+    _footSwitch = 1;
+    _seatSwitch = 1;
+}
+
+void Motor::releaseDeadman() {
+    _footSwitch = 0;
+    _seatSwitch = 0;
+}
+
+void Motor::setForward() {
+    _directionFwd = 1;
+    _directionRev = 0;
+//    pc.printf("Motor Set to Forward\r\n");  
+}
+
+void Motor::setPark() {
+    _directionFwd = 0;
+    _directionRev = 0;
+    
+//    pc.printf("Motor Set to Park\r\n"); 
+}
+
+void Motor::setReverse() {
+    _directionFwd = 0;
+    _directionRev = 1;
+//    pc.printf("Motor Set to Reverse\r\n"); 
+}
+
+void Motor::engage() {
+//    _contactMtr = 1;    
+//    pc.printf("Motor Contactor Engaged\r\n");   
+}
+
+void Motor::disengage() {
+//    _contactMtr = 0;
+    
+    setPark();
+    
+//    pc.printf("Motor Disengaged\r\n");  
+}
+
+void Motor::setSpeedMode(int speed) {
+    switch (speed) {
+        case 0:     // Clear limits
+        
+            _inchFwd = 0;
+            _speedLimit2 = 0;
+            _speedLimit3 = 0;
+            
+//                    pc.printf("Motor Speed Cleared\r\n");
+            break;
+        
+        case 1:     // Inch Forward
+        
+            _inchFwd = 1;
+            _speedLimit2 = 0;
+            _speedLimit3 = 0;
+            
+//                    pc.printf("Motor Set to Inch Forward\r\n");
+            break;
+            
+        case 2:     // Speed 2
+            
+            _inchFwd = 0;
+            _speedLimit2 = 1;
+            _speedLimit3 = 0;
+            
+//                    pc.printf("Motor Set to Speed Limit 2\r\n");
+            break;
+            
+        case 3:     // Speed 3
+            
+            _inchFwd = 0;
+            _speedLimit2 = 0;
+            _speedLimit3 = 1;
+            
+//            pc.printf("Motor Set to Speed Limit 3\r\n");
+            break;   
+    }
+}
+
+void Motor::throttle(float throttleRate) {
+    // set the output voltage of the analog output pin specified as a percentage of Vcc (3.3V)
+    _motorAccelerator = throttleRate;   // Analog value between 0.0f and 1.0f
+//    pc.printf("Throttling\r\n");
+    
+}
+
+void Motor::brake(float brakeRate) {
+    _motorBrake = brakeRate;            // Analog value between 0.0f and 1.0f
+//    pc.printf("Motor Braking\r\n");
+}
\ No newline at end of file