Revision 126
Fixed problems with motors, error in charging station delay_ms for BOM.
| branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/wl_defs.h | ||
|---|---|---|
| 22 | 22 |
#define WL_TOKEN_JOIN_ACCEPT 6 |
| 23 | 23 |
|
| 24 | 24 |
// timing constants |
| 25 |
#define BOM_DELAY 100
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|
| 25 |
#define BOM_DELAY 200
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|
| 26 | 26 |
#define DEATH_DELAY 3 |
| 27 | 27 |
#define JOIN_DELAY 8 |
| 28 | 28 |
|
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/recharge.c | ||
|---|---|---|
| 2 | 2 |
#include <battery.h> |
| 3 | 3 |
#include <dio.h> |
| 4 | 4 |
#include <lights.h> |
| 5 |
#include <motor.h> |
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| 6 |
#include <serial.h> |
|
| 5 | 7 |
|
| 6 | 8 |
#include <wl_defs.h> |
| 7 | 9 |
#include "wl_recharge_group.h" |
| ... | ... | |
| 29 | 31 |
{
|
| 30 | 32 |
wl_recharge_register(); |
| 31 | 33 |
//TODO: uncomment to use homing sensor |
| 32 |
//recharge_i2c_init();
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|
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recharge_i2c_init(); |
|
| 33 | 35 |
} |
| 34 | 36 |
|
| 35 | 37 |
/** |
| ... | ... | |
| 166 | 168 |
//TODO: implement |
| 167 | 169 |
//if (battery is charged) |
| 168 | 170 |
if (button2_click()) |
| 171 |
{
|
|
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motors_off(); |
|
| 169 | 173 |
wl_recharge_depart(); |
| 174 |
} |
|
| 170 | 175 |
} |
| 171 | 176 |
|
| 172 | 177 |
/** |
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/seeking.c | ||
|---|---|---|
| 11 | 11 |
#define SEEK_WITH_BOM 1 |
| 12 | 12 |
#define SEEK_WITH_HOMING 2 |
| 13 | 13 |
|
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#define SEEKING_BOM_VELOCITY -160
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|
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#define SEEKING_BOM_VELOCITY -170
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| 15 | 15 |
#define SEEKING_HOMING_VELOCITY -160 |
| 16 | 16 |
|
| 17 | 17 |
// values for homing sensor readings |
| ... | ... | |
| 66 | 66 |
v = SEEKING_BOM_VELOCITY_TURN; |
| 67 | 67 |
*/ |
| 68 | 68 |
//TODO: uncomment this line |
| 69 |
move_avoid(v, w, 5);
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|
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move(v, w);
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|
| 70 | 70 |
} |
| 71 | 71 |
|
| 72 | 72 |
//data is fresh, use it |
| 73 | 73 |
//TODO: uncomment to use homing sensor |
| 74 |
/*int widthcount = recharge_i2c_get_homing_reading();
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int widthcount = recharge_i2c_get_homing_reading(); |
|
| 75 | 75 |
|
| 76 | 76 |
if(widthcount>= 4) |
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return SEEK_WITH_HOMING;*/
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return SEEK_WITH_HOMING; |
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| 78 | 78 |
return SEEK_WITH_BOM; |
| 79 | 79 |
} |
| 80 | 80 |
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| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/Makefile | ||
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| 15 | 15 |
USE_WIRELESS = 1 |
| 16 | 16 |
|
| 17 | 17 |
# com1 = serial port. Use lpt1 to connect to parallel port. |
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AVRDUDE_PORT = /dev/ttyUSB2
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AVRDUDE_PORT = /dev/ttyUSB0
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| 19 | 19 |
# |
| 20 | 20 |
# |
| 21 | 21 |
################################### |
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