Revision 434
update assigning bay based on battery reading (seeking robot), also fix some bugs
| branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/charging.c | ||
|---|---|---|
| 8 | 8 |
#include <wl_token_ring.h> |
| 9 | 9 |
#include "wl_charging_station.h" |
| 10 | 10 |
|
| 11 |
#define BATTERY_LOWV 152 |
|
| 12 |
|
|
| 11 | 13 |
//set this to the number of bays |
| 12 | 14 |
#define NUM_BAYS 2 |
| 13 | 15 |
|
| ... | ... | |
| 383 | 385 |
**/ |
| 384 | 386 |
void update_battery(int robot, int battery) |
| 385 | 387 |
{
|
| 386 |
if (robot < robotSize && robots[robot] != NULL) |
|
| 388 |
if (robot < robotsSize && robots[robot] != NULL)
|
|
| 387 | 389 |
robots[robot]->battery = battery; |
| 388 | 390 |
} |
| 389 | 391 |
void check_battery(int robot, int battery) |
| 390 | 392 |
{
|
| 391 | 393 |
if (charging_is_space_available()) return; |
| 392 |
// 152 low voltage |
|
| 393 |
// 179 charging voltage |
|
| 394 |
// there's no way to tell the voltage of a charging robot, so we just eject the first one |
|
| 394 |
// there's no way to read the voltage of a charging robot |
|
| 395 |
// so just eject the seeking robot if there's one, or the last charging robot |
|
| 395 | 396 |
charging_robot_iterator_init(); |
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int r = charging_robot_iterator_next(); |
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int b = robots[r]->battery; |
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if (battery<153){
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|
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int r,b; |
|
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while (charging_robot_iterator_has_next()) |
|
| 399 |
{
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r = charging_robot_iterator_next(); |
|
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b = robots[r]->battery; |
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if (robots[r]->state==STATE_SEEKING) break; |
|
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} |
|
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if (battery<=BATTERY_LOWV&&b>BATTERY_LOWV) |
|
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{
|
|
| 399 | 406 |
//cancel robot r |
| 400 | 407 |
wl_charging_send_cancel(r); |
| 401 | 408 |
charging_cancel(r); |
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/wl_recharge_group.c | ||
|---|---|---|
| 237 | 237 |
void wl_recharge_send_battery(int dest) |
| 238 | 238 |
{
|
| 239 | 239 |
wl_send_robot_to_robot_global_packet(WL_RECHARGE_GROUP, WL_BATTERY_REQUEST, |
| 240 |
battery(), 0, dest, 0);
|
|
| 240 |
(char*)battery(), 1, dest, 0);
|
|
| 241 | 241 |
} |
| 242 | 242 |
|
| 243 | 243 |
/** |
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/recharge_defs.h | ||
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| 1 | 1 |
//#define RECHARGE_DEBUG |
| 2 | 2 |
|
| 3 |
#define WL_BATTERY_REQUEST 11 |
|
| 3 | 4 |
#ifdef RECHARGE_DEBUG |
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#define WL_BATTERY_REQUEST 11 |
|
| 5 | 5 |
#define RECHARGE_DEBUG_PRINT( s ) usb_puts( s ) |
| 6 | 6 |
#define RECHARGE_DEBUG_PUTI( i ) usb_puti( i ) |
| 7 | 7 |
#else |
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