Ebrake System

The braking system employs electrical brakes controlled by the Raspberry Pi and mechanical brakes that are engaged by the user. The electrical braking system is used to stop the bike from either UI prompt or a control system stop. The user can stop the bike using the touchscreen or using the Xbox controller during manual drive. If the user ever needs to stop the bike manually, they can pull on the brakes to engage the mechanical system and stop the drive voltage from the bike's motor controller. Manual braking also notifies the Raspberry Pi to stop the control system and electrical control of the motors.

Schematic

To test the ebrake code, I built a desktop version of the braking system. The manual brake is replaced by a push-button and a multimeter is used to observe the output.