Revision 137
Updated recharing, software somewhat works.
| recharge.c | ||
|---|---|---|
| 30 | 30 |
void recharge_init(void) |
| 31 | 31 |
{
|
| 32 | 32 |
wl_recharge_register(); |
| 33 |
//TODO: uncomment to use homing sensor |
|
| 34 | 33 |
recharge_i2c_init(); |
| 35 | 34 |
} |
| 36 | 35 |
|
| ... | ... | |
| 93 | 92 |
{
|
| 94 | 93 |
case NOT_RECHARGING: |
| 95 | 94 |
RECHARGE_DEBUG_PRINT("Not recharging.\n");
|
| 96 |
orb_set_color(GREEN); |
|
| 95 |
//orb_set_color(GREEN);
|
|
| 97 | 96 |
break; |
| 98 | 97 |
case POLLING: |
| 99 | 98 |
RECHARGE_DEBUG_PRINT("Polling available stations.\n");
|
| 100 |
orb_set_color(CYAN); |
|
| 99 |
//orb_set_color(CYAN);
|
|
| 101 | 100 |
break; |
| 102 | 101 |
case REQUESTING: |
| 103 | 102 |
RECHARGE_DEBUG_PRINT("Requesting a station.\n");
|
| 104 |
orb_set_color(RED); |
|
| 103 |
//orb_set_color(RED);
|
|
| 105 | 104 |
break; |
| 106 | 105 |
case SEEKING: |
| 107 | 106 |
RECHARGE_DEBUG_PRINT("Seeking.\n");
|
| 108 |
orb_set_color(YELLOW); |
|
| 107 |
//orb_set_color(YELLOW);
|
|
| 109 | 108 |
break; |
| 110 | 109 |
case DOCKED: |
| 111 | 110 |
RECHARGE_DEBUG_PRINT("Docked.\n");
|
| 112 |
orb_set_color(BLUE); |
|
| 111 |
//orb_set_color(BLUE);
|
|
| 113 | 112 |
break; |
| 114 | 113 |
case DEPARTING: |
| 115 | 114 |
RECHARGE_DEBUG_PRINT("Departing.\n");
|
| 116 |
orb_set_color(PURPLE); |
|
| 115 |
//orb_set_color(PURPLE);
|
|
| 117 | 116 |
break; |
| 118 | 117 |
default: |
| 119 | 118 |
WL_DEBUG_PRINT("Unexpected state.\n");
|
| ... | ... | |
| 155 | 154 |
//TODO: check if battery is charging |
| 156 | 155 |
//if (battery is charging) |
| 157 | 156 |
if (button2_click()) |
| 157 |
{
|
|
| 158 | 158 |
wl_recharge_dock(); |
| 159 |
move(0, 0); |
|
| 160 |
} |
|
| 159 | 161 |
} |
| 160 | 162 |
|
| 161 | 163 |
/** |
| ... | ... | |
| 169 | 171 |
//if (battery is charged) |
| 170 | 172 |
if (button2_click()) |
| 171 | 173 |
{
|
| 172 |
motors_off(); |
|
| 173 | 174 |
wl_recharge_depart(); |
| 174 | 175 |
} |
| 175 | 176 |
} |
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