Revision 120
Seems to work until we get to seeking, where there may be issues with the motors.
| recharge.c | ||
|---|---|---|
| 28 | 28 |
void recharge_init(void) |
| 29 | 29 |
{
|
| 30 | 30 |
wl_recharge_register(); |
| 31 |
recharge_i2c_init(); |
|
| 31 |
//TODO: uncomment to use homing sensor |
|
| 32 |
//recharge_i2c_init(); |
|
| 32 | 33 |
} |
| 33 | 34 |
|
| 34 | 35 |
/** |
| ... | ... | |
| 86 | 87 |
if (old_state != wl_recharge_get_state()) |
| 87 | 88 |
{
|
| 88 | 89 |
old_state = wl_recharge_get_state(); |
| 89 |
RECHARGE_DEBUG_PUTI(old_state); |
|
| 90 |
switch (wl_recharge_get_state()) |
|
| 90 |
switch (old_state) |
|
| 91 | 91 |
{
|
| 92 | 92 |
case NOT_RECHARGING: |
| 93 |
RECHARGE_DEBUG_PRINT("Not recharging.\n");
|
|
| 93 | 94 |
orb_set_color(GREEN); |
| 94 | 95 |
break; |
| 95 | 96 |
case POLLING: |
| 97 |
RECHARGE_DEBUG_PRINT("Polling available stations.\n");
|
|
| 98 |
orb_set_color(CYAN); |
|
| 99 |
break; |
|
| 96 | 100 |
case REQUESTING: |
| 101 |
RECHARGE_DEBUG_PRINT("Requesting a station.\n");
|
|
| 97 | 102 |
orb_set_color(RED); |
| 98 |
//we shouldn't be in this state |
|
| 99 | 103 |
break; |
| 100 | 104 |
case SEEKING: |
| 105 |
RECHARGE_DEBUG_PRINT("Seeking.\n");
|
|
| 101 | 106 |
orb_set_color(YELLOW); |
| 102 | 107 |
break; |
| 103 | 108 |
case DOCKED: |
| 109 |
RECHARGE_DEBUG_PRINT("Docked.\n");
|
|
| 104 | 110 |
orb_set_color(BLUE); |
| 105 | 111 |
break; |
| 106 | 112 |
case DEPARTING: |
| 113 |
RECHARGE_DEBUG_PRINT("Departing.\n");
|
|
| 107 | 114 |
orb_set_color(PURPLE); |
| 108 | 115 |
break; |
| 109 | 116 |
default: |
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