Refactor Brake as semaphore

shackremote_arduino/brake.cpp

+#include "brake.h"
+
+Brake::Brake(int brake_pin)
+{
+    brake_counter_ = 0;
+    brake_pin_ = brake_pin;
+
+    //Pin Settings
+    pinMode(brake_pin_, OUTPUT);
+
+    //All Relais Off
+    digitalWrite(brake_pin_, HIGH);
+}
+
+void Brake::doBreak()
+{
+    if(brake_counter_ == 0)
+    {
+        digitalWrite(brake_pin_, HIGH);
+    }
+    else
+    {
+        digitalWrite(brake_pin_, LOW);
+    }
+}
+
+void Brake::release()
+{
+    brake_counter_++;
+}
+
+void Brake::tighten()
+{
+    brake_counter_--;
+}

shackremote_arduino/brake.h

+#ifndef BRAKE_H
+#define BRAKE_H
+
+#include "settings.h"
+#include "Arduino.h"
+
+class Brake
+{
+public:
+    Brake(int brake_pin);
+    void doBreak();
+
+    void tighten();
+    void release();
+private:
+    int brake_counter_;
+    int brake_pin_;
+};
+
+#endif //BRAKE_H

shackremote_arduino/motor.cpp

 #include "motor.h"
 
-Motor::Motor(double max, double min, int down_pin, int up_pin, int break_pin, int sensor_pin, double degree, double resolution, double span)
+Motor::Motor(double max, double min, int down_pin, int up_pin, Brake* brake, int sensor_pin, double degree, double resolution, double span)
 {
     max_ = max;
     min_ = min;
     span_ = span;
+    brake_ = brake;
     degree_ = degree;
     up_pin_ = up_pin;
     down_pin_ = down_pin;
-    break_pin_ = break_pin;
     sensor_pin_ = sensor_pin;
     resolution_ = resolution;
 
     //Pin Settings
     pinMode(up_pin_, OUTPUT);
     pinMode(down_pin_, OUTPUT);
-    pinMode(break_pin_, OUTPUT);
 
     //All Relais Off
     digitalWrite(up_pin_, HIGH);
     digitalWrite(down_pin_, HIGH);
-    digitalWrite(break_pin_, HIGH);
 
     should_rotate_ = false;
+    brake_tightened_ = true;
 }
 
 void Motor::doMotor()
@@ -45,7 +44,7 @@ void Motor::doMotor()
 
 Motor::motorError Motor::rotateUp()
 {
-    releaseBreak();
+    releaseBrake();
     digitalWrite(down_pin_, HIGH);
     digitalWrite(up_pin_, LOW);
     return Motor::ROT_OK;
@@ -53,26 +52,32 @@ Motor::motorError Motor::rotateUp()
 
 Motor::motorError Motor::rotateDown()
 {
-    releaseBreak();
+    releaseBrake();
     digitalWrite(up_pin_, HIGH);
     digitalWrite(down_pin_, LOW);
     return Motor::ROT_OK;
 }
 
-void Motor::releaseBreak()
+void Motor::releaseBrake()
 {
-    digitalWrite(break_pin_, LOW);
+    if(brake_tightened_) {
+        brake_->release();
+        brake_tightened_ = false;
+    }
 }
 
-void Motor::tightenBreak()
+void Motor::tightenBrake()
 {
-    digitalWrite(break_pin_, HIGH);
+    if(brake_tightened_ == false) {
+        brake_->tighten();
+        brake_tightened_ = true;
+    }
 }
 
 void Motor::stop()
 {
     should_rotate_ = false;
-    tightenBreak();
+    tightenBrake();
     digitalWrite(down_pin_, HIGH);
     digitalWrite(up_pin_, HIGH);
 }

shackremote_arduino/motor.h

@@ -2,6 +2,7 @@
 #define MOTOR_H
 
 #include "Arduino.h"
+#include "brake.h"
 
 class Motor
 {
@@ -11,12 +12,12 @@ public:
                     ROT_VAL_OUT_OF_RANGE,
                     ROT_BREAK_NOT_RELEASED,
                     ROT_ALREADY_IN_SPAN };
-    Motor(double max, double min, int down_pin, int up_pin, int break_pin, int sensor_pin, double degree, double resolution, double span);
+    Motor(double max, double min, int down_pin, int up_pin, Brake *brake, int sensor_pin, double degree, double resolution, double span);
     void doMotor();
     double getPosition() const;
 
-    void releaseBreak();
-    void tightenBreak();
+    void releaseBrake();
+    void tightenBrake();
     void stop();
 
     motorError setPosition(double);
@@ -27,11 +28,11 @@ private:
     motorError readMotSensor();
     double readADC(int);
 
+    Brake* brake_;
     double max_;
     double min_;
     int down_pin_;
     int up_pin_;
-    int break_pin_;
     int sensor_pin_;
     double position_;
     double destination_;
@@ -39,6 +40,7 @@ private:
     double resolution_;
     double span_;
     byte should_rotate_;
+    byte brake_tightened_;
 };
 
 #endif //MOTOR_H

shackremote_arduino/rotor.cpp

@@ -2,34 +2,36 @@
 
 Rotor::Rotor()
 {
-    azimuth_ = new Motor(AZIM_MAX, AZIM_MIN, AZIM_RE_CW, AZIM_RE_CCW, AZIM_RE_BREAK, AZIM_POT, AZIM_DEG, AZIM_RES, AZIM_SPAN);
-    elevation_ = new Motor(ELEV_MAX, ELEV_MIN, ELEV_RE_DWN, ELEV_RE_UP, ELEV_RE_BREAK, ELEV_POT, ELEV_DEG, ELEV_RES, ELEV_SPAN);
+    brake_ = new Brake(AZIM_RE_BREAK);
+    azimuth_ = new Motor(AZIM_MAX, AZIM_MIN, AZIM_RE_CW, AZIM_RE_CCW, brake_, AZIM_POT, AZIM_DEG, AZIM_RES, AZIM_SPAN);
+    elevation_ = new Motor(ELEV_MAX, ELEV_MIN, ELEV_RE_DWN, ELEV_RE_UP, brake_, ELEV_POT, ELEV_DEG, ELEV_RES, ELEV_SPAN);
 }
 
 void Rotor::doRotor()
 {
     azimuth_->doMotor();
     elevation_->doMotor();
+    brake_->doBreak();
 }
 
-void Rotor::releaseBreakAzimuth()
+void Rotor::releaseBrakeAzimuth()
 {
-    azimuth_->releaseBreak();
+    azimuth_->releaseBrake();
 }
 
-void Rotor::releaseBreakElevation()
+void Rotor::releaseBrakeElevation()
 {
-    elevation_->releaseBreak();
+    elevation_->releaseBrake();
 }
 
-void Rotor::tightenBreakAzimuth()
+void Rotor::tightenBrakeAzimuth()
 {
-    azimuth_->tightenBreak();
+    azimuth_->tightenBrake();
 }
 
-void Rotor::tightenBreakElevation()
+void Rotor::tightenBrakeElevation()
 {
-    elevation_->tightenBreak();
+    elevation_->tightenBrake();
 }
 
 void Rotor::stopAzimuth()

shackremote_arduino/rotor.h

@@ -10,6 +10,7 @@
 
 #include "settings.h"
 #include "motor.h"
+#include "brake.h"
 
 class Rotor
 {
@@ -20,10 +21,10 @@ public:
     double getAzimuth() const;
     double getElevation() const;
 
-    void releaseBreakAzimuth();
-    void releaseBreakElevation();
-    void tightenBreakAzimuth();
-    void tightenBreakElevation();
+    void releaseBrakeAzimuth();
+    void releaseBrakeElevation();
+    void tightenBrakeAzimuth();
+    void tightenBrakeElevation();
     void stopAzimuth();
     void stopElevation();
 
@@ -37,6 +38,7 @@ public:
 private:
     Motor *azimuth_;
     Motor *elevation_;
+    Brake *brake_;
 };
 
 #endif //ROTOR_H