Revision 116
Updated recharging code for the robot, it actually runs, trying to fix problem with orbs in debugging mode.
| recharge.c | ||
|---|---|---|
| 1 | 1 |
#include <move.h> |
| 2 | 2 |
#include <battery.h> |
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#include <dio.h> |
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#include <lights.h> |
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|
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#include <wl_defs.h> |
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#include "wl_recharge_group.h" |
| 7 | 8 |
#include "seeking.h" |
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#include "departing.h" |
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#include "recharge_i2c.h" |
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#include "recharge_defs.h" |
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|
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// Function prototypes |
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void recharge_check_low_battery(void); |
| ... | ... | |
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void recharge_seek(void); |
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void recharge_depart(void); |
| 15 | 18 |
|
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//Global variables |
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#ifdef RECHARGE_DEBUG |
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int old_state = -1; |
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#endif |
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|
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/** |
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* Initializes recharging. Before this function may be called, |
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* wl_init must be called. |
| ... | ... | |
| 75 | 83 |
|
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// show colors if we are debugging |
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#ifdef RECHARGE_DEBUG |
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switch (wl_recharge_get_state())
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if (old_state != wl_recharge_get_state())
|
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{
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|
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old_state = wl_recharge_get_state(); |
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RECHARGE_DEBUG_PUTI(old_state); |
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switch (wl_recharge_get_state()) |
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{
|
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case NOT_RECHARGING: |
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orb_set_color(GREEN); |
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break; |
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case POLLING: |
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case REQUESTING: |
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orb_set_color(RED); |
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//we shouldn't be in this state |
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break; |
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case SEEKING: |
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orb_set_color(YELLOW); |
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break; |
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case DOCKED: |
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orb_set_color(BLUE); |
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break; |
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case DEPARTING: |
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orb_set_color(PURPLE); |
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break; |
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default: |
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WL_DEBUG_PRINT("Unexpected state.\n");
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break; |
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} |
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} |
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#endif |
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