Diff: Brake.h

Revision:

1:4e486eec2359

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Brake.h	Thu Jul 13 13:42:42 2017 +0000
@@ -0,0 +1,52 @@
+#include "mbed.h"
+#include "Controller.h"
+
+#ifndef BRAKE_H
+#define BRAKE_H
+
+#define PIN_BUTTON_BRAKE p22 //or whatever
+#define PIN_PWM_BRAKE p21 //or whatever
+#define PIN_DIR_BRAKE p23 //or whatever
+
+#define CALIBRATION_FACTOR 200 // Steps per Rotation
+
+#define MAX_SPEED_BRAKE     3 // 3 rotations per second
+#define MAX_ROTATIONS_FOR_BRAKEING 10.0 //still needs to 
+#define HYSTERESIS 5
+
+class Brake
+{
+    public:
+    
+    Brake();
+    ~Brake();
+    
+    void calibrateServo();
+    bool getBrakeing();
+    void brake(int percantage, int speed);
+        
+    private:
+    
+    int drive_homeposition(void);
+    int drive_brake(int _percentage, int _speed);
+    bool _brakeing;
+    DigitalIn _brakeButton;
+    PwmOut _pwm;
+    DigitalOut _dir;
+    float _percantage;
+    bool brake_switch;
+    int ref_time;
+    int cur_time;
+    int percentage_old;
+    int enable_drive;
+    int calculated_position;
+    int direction;
+    int diff_time;
+    int state_brakeButton_old;
+    
+  
+    Timer t1; 
+    Timer t2; 
+};
+
+#endif
\ No newline at end of file