throttle.cpp

00001 #include "throttle.h"
00002 
00003 AnalogIn gripThrottle(p17);
00004 AnalogOut throttleOut(p18); 
00005 DigitalIn gripButton(p6);
00006 
00007 Throttle* Throttle::instance = NULL;
00008 
00009 Throttle *Throttle::getThrottle(float *I, float *v_f, float *v_r, float *cadence, AnalogIn* break_l, AnalogIn *break_r) {
00010     if (instance == NULL) {
00011         instance = new Throttle(I, v_f, v_r, cadence, break_l, break_r);
00012     }
00013     return instance;
00014 }
00015 
00016 Throttle::Throttle(float *I, float *v_f, float *v_r, float *cadence, AnalogIn* break_l, AnalogIn *break_r) :
00017                    mode(off), state(waiting),
00018                    I(I), v_f(v_f), v_r(v_r), cadence(cadence),
00019                    brkl(break_l), brkr(break_r),
00020                    target(0.0f), iLimit(0.0f), speedLimit(0.0f),
00021                    enforceSpeedLimit(false)
00022                    {
00023     throttleOut = 0.0f;
00024     gripButton.mode(PullUp);
00025     tick.attach(this, &Throttle::onTick, 0.001);
00026 }
00027 
00028 Throttle::~Throttle() {
00029     tick.detach();
00030     throttleOut = 0.0f;
00031 }
00032 
00033 void Throttle::onTick() {
00034     if (brkl->read() < break_inhibit_threshold && brkr->read() < break_inhibit_threshold) {
00035         switch(mode) {
00036         case off:
00037             throttleOut = 0.0f;
00038             break;
00039         case raw:
00040             throttleOut = gripThrottle;
00041             break;
00042         case cruise_raw:
00043             throttleOut = target;
00044             break;
00045         default:
00046             throttleOut = 0.0f;
00047         }
00048     }
00049     else {
00050         state = inhibited;
00051     }
00052 }
00053 
00054 void Throttle::setMode(ThrottleMode m) { mode = m; }
00055 
00056 void Throttle::setILimit(float I) { iLimit = I; }
00057 
00058 void Throttle::setSpeedLimit(float v, bool enforce) {
00059     speedLimit = v;
00060     enforceSpeedLimit = enforce;
00061 }
00062