Revision 195
added more battery detection code (currently commented out for demo purposes)...also uses rangefinders for departing.
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/recharge.c | ||
|---|---|---|
| 131 | 131 |
**/ |
| 132 | 132 |
void recharge_check_low_battery() |
| 133 | 133 |
{
|
| 134 |
//TODO: use battery_low instead of button press |
|
| 135 |
//if (battery_low()) |
|
| 134 |
//if (battery_low() || button2_click()) |
|
| 136 | 135 |
if (button2_click()) |
| 137 | 136 |
{
|
| 138 | 137 |
wl_recharge_begin(); |
| ... | ... | |
| 150 | 149 |
void recharge_seek() |
| 151 | 150 |
{
|
| 152 | 151 |
seek_station(wl_recharge_get_station()); |
| 153 |
|
|
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//TODO: check if battery is charging |
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//if (battery is charging) |
|
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if (recharge_i2c_is_battery_charging()) |
|
| 152 |
|
|
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if (recharge_i2c_is_battery_charging() || button2_click()) |
|
| 157 | 154 |
{
|
| 158 | 155 |
wl_recharge_dock(); |
| 159 | 156 |
move(0, 0); |
| ... | ... | |
| 167 | 164 |
**/ |
| 168 | 165 |
void recharge_check_charging_complete() |
| 169 | 166 |
{
|
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//TODO: implement |
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//if (battery is charged) |
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//if (recharge_i2c_is_battery_full() || button2_click()) |
|
| 172 | 168 |
if (button2_click()) |
| 173 | 169 |
{
|
| 174 | 170 |
wl_recharge_depart(); |
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/departing.c | ||
|---|---|---|
| 32 | 32 |
int depart_station(void) |
| 33 | 33 |
{
|
| 34 | 34 |
//TODO: use rangefinders to depart |
| 35 |
//int front_distance = range_read_distance(IR2);
|
|
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int front_distance = range_read_distance(IR2); |
|
| 36 | 36 |
//RECHARGE_DEBUG_PUTI(front_distance); |
| 37 | 37 |
//RECHARGE_DEBUG_PRINT("\n");
|
| 38 | 38 |
|
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//if(front_distance != -1 && front_distance < 160)
|
|
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if(front_distance != -1 && front_distance < 160) |
|
| 40 | 40 |
leave_station_count++; |
| 41 |
//else
|
|
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// leave_station_count = 0;
|
|
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else |
|
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leave_station_count = 0; |
|
| 43 | 43 |
|
| 44 | 44 |
if(leave_station_count > 1000) |
| 45 | 45 |
{
|
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