Brake.h

00001 #include "mbed.h"
00002 #include "Controller.h"
00003 
00004 #ifndef BRAKE_H
00005 #define BRAKE_H
00006 
00007 #define PIN_BUTTON_BRAKE p22 //or whatever
00008 #define PIN_PWM_BRAKE p21 //or whatever
00009 #define PIN_DIR_BRAKE p23 //or whatever
00010 
00011 #define CALIBRATION_FACTOR 200 // Steps per Rotation
00012 
00013 #define MAX_SPEED_BRAKE     3 // 3 rotations per second
00014 #define MAX_ROTATIONS_FOR_BRAKEING 10.0 //still needs to 
00015 #define HYSTERESIS 5
00016 
00017 class Brake
00018 {
00019     public:
00020     
00021     Brake();
00022     ~Brake();
00023     
00024     void calibrateServo();
00025     bool getBrakeing();
00026     void brake(int percantage, int speed);
00027         
00028     private:
00029     
00030     int drive_homeposition(void);
00031     int drive_brake(int _percentage, int _speed);
00032     bool _brakeing;
00033     DigitalIn _brakeButton;
00034     PwmOut _pwm;
00035     DigitalOut _dir;
00036     float _percantage;
00037     bool brake_switch;
00038     int ref_time;
00039     int cur_time;
00040     int percentage_old;
00041     int enable_drive;
00042     int calculated_position;
00043     int direction;
00044     int diff_time;
00045     int state_brakeButton_old;
00046     
00047   
00048     Timer t1; 
00049     Timer t2; 
00050 };
00051 
00052 #endif