Revision 120
Seems to work until we get to seeking, where there may be issues with the motors.
| wl_recharge_group.c | ||
|---|---|---|
| 40 | 40 |
//timer ticks between polls |
| 41 | 41 |
#define POLL_DELAY 4 |
| 42 | 42 |
#define REQUEST_DELAY 6 |
| 43 |
#define VERIFY_DELAY 8
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|
| 44 |
#define VERIFY_FREQUENCY 4
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|
| 43 |
#define VERIFY_DELAY 32
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|
| 44 |
#define VERIFY_FREQUENCY 11
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|
| 45 | 45 |
|
| 46 | 46 |
//frames |
| 47 | 47 |
#define REQUEST_FRAME 1 |
| ... | ... | |
| 90 | 90 |
**/ |
| 91 | 91 |
void wl_recharge_begin(void) |
| 92 | 92 |
{
|
| 93 |
RECHARGE_DEBUG_PRINT("Beginning to recharge.\n");
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|
| 93 | 94 |
recharge_state = POLLING; |
| 94 | 95 |
station = -1; |
| 95 | 96 |
pollCount = 0; |
| ... | ... | |
| 252 | 253 |
case REQUESTING: |
| 253 | 254 |
if (requestCount <= 0) |
| 254 | 255 |
{
|
| 256 |
RECHARGE_DEBUG_PRINT("Station timed out ");
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|
| 257 |
RECHARGE_DEBUG_PRINT("on request.\n");
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|
| 255 | 258 |
//request failed |
| 256 | 259 |
station = -1; |
| 257 | 260 |
recharge_state = POLLING; |
| ... | ... | |
| 263 | 266 |
case SEEKING: |
| 264 | 267 |
if (verifyCount <= 0) |
| 265 | 268 |
{
|
| 269 |
RECHARGE_DEBUG_PRINT("Station timed out ");
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|
| 270 |
RECHARGE_DEBUG_PRINT("on seeking verify.\n");
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|
| 266 | 271 |
//station is down |
| 267 | 272 |
station = -1; |
| 268 | 273 |
recharge_state = POLLING; |
| ... | ... | |
| 431 | 436 |
return; |
| 432 | 437 |
} |
| 433 | 438 |
|
| 439 |
RECHARGE_DEBUG_PRINT("Received cancellation from the charging station.\n");
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|
| 440 |
|
|
| 434 | 441 |
verifyCount = VERIFY_DELAY; |
| 435 | 442 |
switch (recharge_state) |
| 436 | 443 |
{
|
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