Revision 120
Seems to work until we get to seeking, where there may be issues with the motors.
| seeking.c | ||
|---|---|---|
| 36 | 36 |
seeking_state = seek_station_with_homing_sensor(); |
| 37 | 37 |
} |
| 38 | 38 |
|
| 39 |
int old_reading = 0; |
|
| 40 |
|
|
| 39 | 41 |
int seek_station_with_bom(int station) |
| 40 | 42 |
{
|
| 41 | 43 |
int charging_loc = wl_token_get_my_sensor_reading(station); |
| 44 |
if (charging_loc != old_reading) |
|
| 45 |
{
|
|
| 46 |
RECHARGE_DEBUG_PRINT("BOM reading: ");
|
|
| 47 |
RECHARGE_DEBUG_PUTI(charging_loc); |
|
| 48 |
RECHARGE_DEBUG_PRINT("\n");
|
|
| 49 |
old_reading = charging_loc; |
|
| 50 |
} |
|
| 42 | 51 |
|
| 43 | 52 |
//move to charging station if charging_loc != -1 |
| 44 | 53 |
//at this point, wl_csloc is set to the max bom reading |
| ... | ... | |
| 56 | 65 |
/*if( abs_int(err) > 2) |
| 57 | 66 |
v = SEEKING_BOM_VELOCITY_TURN; |
| 58 | 67 |
*/ |
| 68 |
//TODO: uncomment this line |
|
| 59 | 69 |
move_avoid(v, w, 5); |
| 60 | 70 |
} |
| 61 | 71 |
|
| 62 | 72 |
//data is fresh, use it |
| 63 |
int widthcount = recharge_i2c_get_homing_reading(); |
|
| 73 |
//TODO: uncomment to use homing sensor |
|
| 74 |
/*int widthcount = recharge_i2c_get_homing_reading(); |
|
| 64 | 75 |
|
| 65 | 76 |
if(widthcount>= 4) |
| 66 |
return SEEK_WITH_HOMING; |
|
| 77 |
return SEEK_WITH_HOMING;*/
|
|
| 67 | 78 |
return SEEK_WITH_BOM; |
| 68 | 79 |
} |
| 69 | 80 |
|
| ... | ... | |
| 71 | 82 |
{
|
| 72 | 83 |
//TODO: create function in homing.h to return LEFT, FORWARD, RIGHT, or NONE |
| 73 | 84 |
int widthcount = recharge_i2c_get_homing_reading(); |
| 85 |
RECHARGE_DEBUG_PRINT("Homing sensor: ");
|
|
| 86 |
RECHARGE_DEBUG_PUTI(widthcount); |
|
| 87 |
RECHARGE_DEBUG_PRINT("\n");
|
|
| 74 | 88 |
|
| 75 | 89 |
if (widthcount < LEFT_LOW) //can't use beacon, switch to BOM |
| 76 | 90 |
return SEEK_WITH_BOM; |
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