Revision 195
added more battery detection code (currently commented out for demo purposes)...also uses rangefinders for departing.
| 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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|
| 35 |
int front_distance = range_read_distance(IR2); |
|
| 36 | 36 |
//RECHARGE_DEBUG_PUTI(front_distance); |
| 37 | 37 |
//RECHARGE_DEBUG_PRINT("\n");
|
| 38 | 38 |
|
| 39 |
//if(front_distance != -1 && front_distance < 160)
|
|
| 39 |
if(front_distance != -1 && front_distance < 160) |
|
| 40 | 40 |
leave_station_count++; |
| 41 |
//else
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|
| 42 |
// leave_station_count = 0;
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|
| 41 |
else |
|
| 42 |
leave_station_count = 0; |
|
| 43 | 43 |
|
| 44 | 44 |
if(leave_station_count > 1000) |
| 45 | 45 |
{
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