Diff: stateMachines.cpp

Revision:

27:f8c3f1524a64

Parent:

26:3b144f243646

Child:

29:fc984fe08ca7

--- a/stateMachines.cpp	Sun Sep 16 17:11:15 2018 +0000
+++ b/stateMachines.cpp	Mon Sep 17 11:00:56 2018 +0000
@@ -81,8 +81,10 @@
 int tachyStepsRegister = 0;
 int tachySectionDist_cm = 0;
 
+#ifdef FREINAGE_ADAPTATIF
 Timer brakingTimer;
 int brakingDurationNeeded_us = 0;
+#endif
 
 //Etats
 MUR_ST st_murs;
@@ -444,7 +446,7 @@
         } else if(  strengthLidar > LIDAR_STRENGTH_THRESOLD && 
                     strengthLidarPrev > LIDAR_STRENGTH_THRESOLD &&
                     distLidar < p_sectionCourante->lidarWarningDist_cm &&
-                    distLidarPrev-distLidar > 0)
+                    distLidarPrev-distLidar > 3)
         {
             st_tmpMaxSpeed = BLOCKED;
         }
@@ -471,26 +473,36 @@
                 st_maxSpeed == BLOCKED ) 
             {
                 st_tmpThro = BRAKING;
-            } else if(tachySpeed_cmps > (maxSpeed_cmps + SPEED_DELTA_CMPS))
+            } 
+#ifdef FREINAGE_ADAPTATIF
+            else if(tachySpeed_cmps > (maxSpeed_cmps + SPEED_DELTA_CMPS))
             {
                 st_tmpThro = BRAKING;
                 brakingDurationNeeded_us = (10000)* MASSE_BINIOU_KG *((tachySpeed_cmps-maxSpeed_cmps)*(tachySpeed_cmps+maxSpeed_cmps)) / (PUISSANCE_FREINAGE_W *2) ;//vitesse en m/s et temps en us
                 brakingTimer.reset();
                 brakingTimer.start();
-            } else
+            }
+#endif
+             else
              {
                 return;
             }
             break;
         case BRAKING:
-            if(brakingTimer.read_us() < brakingDurationNeeded_us || BLOCKED)//put a timer here
+            if( BLOCKED 
+            #ifdef FREINAGE_ADAPTATIF
+            || brakingTimer.read_us() < brakingDurationNeeded_us
+            #endif
+            )
             {
                 st_tmpThro = BRAKING;
             }else
             if(st_currentSection == ARRET) {
                 st_tmpThro = STOPPED;
             } else{
+                #ifdef FREINAGE_ADAPTATIF
                 brakingDurationNeeded_us = 0;
+                #endif
                 st_tmpThro = REGULATION_SPEED;
             }
             break;