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Code Issues 121 Wiki Activity

AI lesson for UniversalBrakeButtons

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This commit is contained in:
Królik Uszasty
2019-09-15 12:21:30 +02:00
committed by tmj-fstate
parent dbfda7c1e5
commit b2b49f933c
2 changed files with 23 additions and 0 deletions
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22
Driver.cpp
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@@ -3650,6 +3650,18 @@ void TController::SetTimeControllers()
}
}
}
//6. UniversalBrakeButtons
//6.1. Checking flags for Over pressure
if (std::abs(BrakeCtrlPosition - gbh_FS)<0.5) {
UniversalBrakeButtons |= (TUniversalBrake::ub_HighPressure | TUniversalBrake::ub_Overload);
}
else {
UniversalBrakeButtons &= ~(TUniversalBrake::ub_HighPressure | TUniversalBrake::ub_Overload);
}
//6.2. Setting buttons
for (int i = 0; i < 3; i++) {
mvOccupied->UniversalBrakeButton(i, (UniversalBrakeButtons & mvOccupied->UniversalBrakeButtonFlag[i]));
}
};
void TController::CheckTimeControllers()
@@ -5888,6 +5900,8 @@ TController::UpdateSituation(double dt) {
// napełnianie uderzeniowe
if( ( mvOccupied->BrakeHandle == TBrakeHandle::FV4a )
|| ( mvOccupied->BrakeHandle == TBrakeHandle::MHZ_6P )
|| (mvOccupied->BrakeHandle == TBrakeHandle::MHZ_K5P)
|| (mvOccupied->BrakeHandle == TBrakeHandle::MHZ_K8P)
|| ( mvOccupied->BrakeHandle == TBrakeHandle::M394 ) ) {
if( /*GBH mvOccupied->BrakeCtrlPos*/BrakeCtrlPosition == -2 ) {
@@ -5948,6 +5962,14 @@ TController::UpdateSituation(double dt) {
}
}
}
// unlocking main pipe
if ((AccDesired > -0.03)
&& (true == mvOccupied->LockPipe)) {
UniversalBrakeButtons |= TUniversalBrake::ub_UnlockPipe;
}
else if (false == mvOccupied->LockPipe) {
UniversalBrakeButtons &= ~TUniversalBrake::ub_UnlockPipe;
}
#if LOGVELOCITY
WriteLog("Dist=" + FloatToStrF(ActualProximityDist, ffFixed, 7, 1) +
", VelDesired=" + FloatToStrF(VelDesired, ffFixed, 7, 1) +