Added braking vent states and a safe brake move

Author: Ezra Boley

embedded/app/src/transitions.c

@@ -20,14 +20,13 @@ int toPropulsion() {
 
 int toBraking() {
     if (stopMotor() != 0) return 1;
-    if (brakePrimary() != 0) return 1;
-
+    brake();
     return 0;
 }
 
 int toCrawl() {
-    brakePrimaryRelease();
-    brakeSecondaryRelease();    /* Usually doesnt do anything */
+    brakePrimaryUnactuate();
+    brakeSecondaryUnactuate();    /* Usually doesnt do anything */
     if (startMotor() != 0) return 1;
     setTorque(CRAWL_TORQUE);
     return 0;

embedded/examples/brakingTest.c

@@ -29,18 +29,18 @@ int main(int argc, char *argv[]) {
         if (strcmp(argv[1], "-p") == 0) {
             if (argc > 2) {
                 if (strcmp(argv[2], "on") == 0)
-                    brakePrimary();
+                    brakePrimaryActuate();
                 else if (strcmp(argv[2], "off") == 0)
-                    brakePrimaryRelease();
+                    brakePrimaryUnactuate();
 
             }
         }
         else if (strcmp(argv[1], "-s") == 0) {
             if (argc > 2) {
                 if (strcmp(argv[2], "on") == 0)
-                    brakeSecondary();
+                    brakeSecondaryActuate();
                 else if (strcmp(argv[2], "off") == 0)
-                    brakeSecondaryRelease();
+                    brakeSecondaryUnactuate();
             }
         }
     }

embedded/peripherals/include/braking.h

@@ -31,11 +31,17 @@ void showPressures(void);
 
 int joinPressureMonitor(void);
 
-int brakePrimary(void);
+int brake(void);
 
-int brakeSecondary(void);
+int brakePrimaryUnactuate(void);
 
-int brakePrimaryRelease(void);
+int brakeSecondaryUnactuate(void);
 
-int brakeSecondaryRelease(void);
+int brakePrimaryActuate(void);
+
+int brakeSecondaryActuate(void);
+
+int brakePrimaryVent(void);
+
+int brakeSecondaryVent(void);
 

embedded/peripherals/src/braking.c

@@ -84,7 +84,15 @@ static double avgDouble(double *arr, int size) {
     return sum / (double) size;
 }
 
-int brakePrimary() {
+int brake() {
+    brakePrimaryActuate();
+    usleep(500000);
+    if (!limSwitchGet(PRIM_LIM_SWITCH))
+        brakeSecondaryActuate();
+    return 0;
+}
+
+int brakePrimaryUnactuate() {
     if (solenoidSet(SOLENOID_0, 1) != 0) {
         fprintf(stderr, "Failed to set SOLENOID_0\n");
         return 1;
@@ -93,9 +101,11 @@ int brakePrimary() {
         fprintf(stderr, "Failed to set SOLENOID_1\n");
         return 1;
     }
+
+    return 0;
 }
 
-int brakeSecondary() {
+int brakeSecondaryUnactuate() {
     if (solenoidSet(SOLENOID_4, 0) != 0) {
         fprintf(stderr, "Failed to set SOLENOID_4\n");
         return 1;
@@ -108,10 +118,11 @@ int brakeSecondary() {
         fprintf(stderr, "Failed to set SOLENOID_6\n");
         return 1;
     }
-    return;
+
+    return 0;
 }
 
-int brakePrimaryRelease() {
+int brakePrimaryActuate() {
     if (solenoidSet(SOLENOID_0, 0) != 0) {
         fprintf(stderr, "Failed to set SOLENOID_0\n");
         return 1;
@@ -120,9 +131,11 @@ int brakePrimaryRelease() {
         fprintf(stderr, "Failed to set SOLENOID_1\n");
         return 1;
     }
+
+    return 0;
 }
 
-int brakeSecondaryRelease() {
+int brakeSecondaryActuate() {
     if (solenoidSet(SOLENOID_4, 1) != 0) {
         fprintf(stderr, "Failed to set SOLENOID_2\n");
         return 1;
@@ -135,16 +148,40 @@ int brakeSecondaryRelease() {
         fprintf(stderr, "Failed to set SOLENOID_4\n");
         return 1;
     }
-    return;
+
+    return 0;
+}
+
+int brakePrimaryVent() {
+    if (solenoidSet(SOLENOID_0, 0) != 0) {
+        fprintf(stderr, "Failed to set SOLENOID_0\n");
+        return 1;
+    }
+    if (solenoidSet(SOLENOID_2, 0) != 0) {
+        fprintf(stderr, "Failed to set SOLENOID_1\n");
+        return 1;
+    }
+
+    return 0;
 }
+  
+int brakeSecondaryVent() {
+    if (solenoidSet(SOLENOID_4, 0) != 0) {
+        fprintf(stderr, "Failed to set SOLENOID_2\n");
+        return 1;
+    }
+    if (solenoidSet(SOLENOID_5, 0) != 0) {
+        fprintf(stderr, "Failed to set SOLENOID_3\n");
+        return 1;
+    }
+    if (solenoidSet(SOLENOID_6, 0) != 0) {
+        fprintf(stderr, "Failed to set SOLENOID_4\n");
+        return 1;
+    }
 
-/*VENT*/
-/*
- *void brakePrimaryVent() {}
- * 
- *void brakeSecondaryVent() {}
- *
- */
+    return 0;
+}
+ 
 
 //Voltage
 double readPrimaryTank() {

middleware/src/HVTCPSocket.cpp

@@ -135,23 +135,24 @@ void *TCPLoop(void *arg)
 
 		if (!strncmp(buffer, "primBrakeOff", MAX_COMMAND_SIZE))
 		{
-			brakePrimaryRelease();
+			brakePrimaryUnactuate();
 		}
 		if (!strncmp(buffer, "primBrakeOn", MAX_COMMAND_SIZE))
 		{
-			brakePrimary();
+			brakePrimaryActuate();
 		}
 		if (!strncmp(buffer, "secBrakeOff", MAX_COMMAND_SIZE))
 		{
-			brakeSecondaryRelease();
+			brakeSecondaryUnactuate();
 		}
 		if (!strncmp(buffer, "secBrakeOn", MAX_COMMAND_SIZE))
 		{
-			brakeSecondary();
+			brakeSecondaryActuate();
 		}
 
 		if (!strncmp(buffer, "hvEnable", MAX_COMMAND_SIZE))
 		{
+            /* Lets add a safety check here */
 			setMCUHVEnabled(true);
 		}