Revision 1:4e486eec2359, committed 2017-07-13

Comitter:

skrickl

Date:

Thu Jul 13 13:42:42 2017 +0000

Parent:

0:375efcba6fef

Commit message:

bla

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Brake.cpp	Thu Jul 13 13:42:42 2017 +0000
@@ -0,0 +1,121 @@
+#include "Brake.h"
+
+Brake::Brake() : _brakeButton(PIN_BUTTON_BRAKE), _pwm(PIN_PWM_BRAKE),
+                 _dir(PIN_DIR_BRAKE)
+{    
+    _pwm.period_ms(20); //needs to be changed!!!
+    Timer t1;  
+    Timer t2;  
+    t1.start();
+    percentage_old=0;
+     int state_brakeButton_old=0;
+    enable_drive =0;
+    direction=1; // 1 forward, -1 backward
+}
+
+Brake::~Brake()
+{
+    
+}
+
+void Brake::calibrateServo()
+{
+ 
+    
+}
+
+
+void Brake::brake(int percentage, int speed)
+{
+    
+
+    if(percentage != percentage_old)
+        {
+            enable_drive =1;
+            
+            if(percentage_old < percentage)
+            {
+                direction = 1; // forward   
+            }
+            else
+            {
+                 direction = -1;  // backward
+            }
+            
+        }
+      
+////////////
+
+if( state_brakeButton_old != _dir)
+{
+  calculated_position=0; // recalibrate every time it switch state changes  
+}
+
+////////////////
+
+    if( enable_drive == 1)
+    {
+        if( percentage == 0)
+        {
+            drive_homeposition();
+        }
+        else
+        {
+            
+            drive_brake(direction, speed);
+            diff_time = t1.read_ms() - ref_time;
+                   
+            
+            calculated_position = calculated_position + (((((float)speed)/100.0f)*MAX_SPEED_BRAKE* (((float)diff_time)/1000.0)*direction))/(MAX_ROTATIONS_FOR_BRAKEING);
+            
+            //maximum speed 5 rpm
+            
+            if( abs(calculated_position - percentage) < HYSTERESIS)
+            {
+                enable_drive =0;
+            }
+        }
+
+    }
+    
+  
+if(diff_time > 600000) // After 10 Minutes Timer is Reset, avoid overflow
+{
+  t1.reset();  
+}    
+
+state_brakeButton_old = _dir;
+ref_time = t1.read_ms();
+}
+
+int Brake::drive_homeposition()
+{
+    if( _brakeButton ) // check if 1 or 0 is engaged
+    {
+        drive_brake(-1, 100.0);
+    }
+    else
+    {
+         drive_brake(1, 0); // home position reached
+    }
+    
+    
+}
+int Brake::drive_brake(int direction, int _speed)
+{
+    _pwm.write(( float(abs(_speed)))/100.0f);
+   
+   if(direction==1)
+   {
+    _dir = 1; // engage brakes
+   }
+   else
+   {
+      _dir = 0; // release brakes
+   }
+}
+
+bool Brake::getBrakeing()
+{
+    return _brakeing;
+}

--- /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
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