Stefan Krickl / Break

Init

Dependents:   JetflyerMotorController

Brake.h@1:4e486eec2359, 2017-07-13 (annotated)

Committer:
skrickl
Date:
Thu Jul 13 13:42:42 2017 +0000
Revision:
1:4e486eec2359
bla

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skrickl 1:4e486eec2359 1 #include "mbed.h"
skrickl 1:4e486eec2359 2 #include "Controller.h"
skrickl 1:4e486eec2359 3
skrickl 1:4e486eec2359 4 #ifndef BRAKE_H
skrickl 1:4e486eec2359 5 #define BRAKE_H
skrickl 1:4e486eec2359 6
skrickl 1:4e486eec2359 7 #define PIN_BUTTON_BRAKE p22 //or whatever
skrickl 1:4e486eec2359 8 #define PIN_PWM_BRAKE p21 //or whatever
skrickl 1:4e486eec2359 9 #define PIN_DIR_BRAKE p23 //or whatever
skrickl 1:4e486eec2359 10
skrickl 1:4e486eec2359 11 #define CALIBRATION_FACTOR 200 // Steps per Rotation
skrickl 1:4e486eec2359 12
skrickl 1:4e486eec2359 13 #define MAX_SPEED_BRAKE 3 // 3 rotations per second
skrickl 1:4e486eec2359 14 #define MAX_ROTATIONS_FOR_BRAKEING 10.0 //still needs to
skrickl 1:4e486eec2359 15 #define HYSTERESIS 5
skrickl 1:4e486eec2359 16
skrickl 1:4e486eec2359 17 class Brake
skrickl 1:4e486eec2359 18 {
skrickl 1:4e486eec2359 19 public:
skrickl 1:4e486eec2359 20
skrickl 1:4e486eec2359 21 Brake();
skrickl 1:4e486eec2359 22 ~Brake();
skrickl 1:4e486eec2359 23
skrickl 1:4e486eec2359 24 void calibrateServo();
skrickl 1:4e486eec2359 25 bool getBrakeing();
skrickl 1:4e486eec2359 26 void brake(int percantage, int speed);
skrickl 1:4e486eec2359 27
skrickl 1:4e486eec2359 28 private:
skrickl 1:4e486eec2359 29
skrickl 1:4e486eec2359 30 int drive_homeposition(void);
skrickl 1:4e486eec2359 31 int drive_brake(int _percentage, int _speed);
skrickl 1:4e486eec2359 32 bool _brakeing;
skrickl 1:4e486eec2359 33 DigitalIn _brakeButton;
skrickl 1:4e486eec2359 34 PwmOut _pwm;
skrickl 1:4e486eec2359 35 DigitalOut _dir;
skrickl 1:4e486eec2359 36 float _percantage;
skrickl 1:4e486eec2359 37 bool brake_switch;
skrickl 1:4e486eec2359 38 int ref_time;
skrickl 1:4e486eec2359 39 int cur_time;
skrickl 1:4e486eec2359 40 int percentage_old;
skrickl 1:4e486eec2359 41 int enable_drive;
skrickl 1:4e486eec2359 42 int calculated_position;
skrickl 1:4e486eec2359 43 int direction;
skrickl 1:4e486eec2359 44 int diff_time;
skrickl 1:4e486eec2359 45 int state_brakeButton_old;
skrickl 1:4e486eec2359 46
skrickl 1:4e486eec2359 47
skrickl 1:4e486eec2359 48 Timer t1;
skrickl 1:4e486eec2359 49 Timer t2;
skrickl 1:4e486eec2359 50 };
skrickl 1:4e486eec2359 51
skrickl 1:4e486eec2359 52 #endif