Revision 210
Somewhat working version of recharging.
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/wl_recharge_group.c | ||
|---|---|---|
| 104 | 104 |
void wl_recharge_stop() |
| 105 | 105 |
{
|
| 106 | 106 |
recharge_state = NOT_RECHARGING; |
| 107 |
station = -1; |
|
| 107 | 108 |
} |
| 108 | 109 |
|
| 109 | 110 |
/** |
| ... | ... | |
| 347 | 348 |
case WL_RECHARGE_DOCKED: |
| 348 | 349 |
wl_recharge_docked(source); |
| 349 | 350 |
break; |
| 351 |
//TODO: remove this, only for demo purposes |
|
| 352 |
case 9: |
|
| 353 |
if (recharge_state == NOT_RECHARGING) |
|
| 354 |
wl_recharge_begin(); |
|
| 355 |
break; |
|
| 350 | 356 |
default: |
| 351 | 357 |
RECHARGE_DEBUG_PRINT("Error packet of unknown type received.\n");
|
| 352 | 358 |
break; |
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/recharge.c | ||
|---|---|---|
| 134 | 134 |
//if (battery_low() || button2_click()) |
| 135 | 135 |
if (button2_click()) |
| 136 | 136 |
{
|
| 137 |
recharge_i2c_set_battery_full(0); |
|
| 137 | 138 |
wl_recharge_begin(); |
| 138 | 139 |
move(0, 0); |
| 139 | 140 |
} |
| ... | ... | |
| 164 | 165 |
**/ |
| 165 | 166 |
void recharge_check_charging_complete() |
| 166 | 167 |
{
|
| 167 |
//if (recharge_i2c_is_battery_full() || button2_click()) |
|
| 168 |
if (button2_click()) |
|
| 168 |
if (recharge_i2c_is_battery_full() || button2_click()) |
|
| 169 | 169 |
{
|
| 170 | 170 |
wl_recharge_depart(); |
| 171 | 171 |
} |
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/homing.c | ||
|---|---|---|
| 3 | 3 |
|
| 4 | 4 |
// values for homing sensor readings |
| 5 | 5 |
#define LEFT_LOW 6 |
| 6 |
#define LEFT_HIGH 7
|
|
| 7 |
#define CENTER_LOW 18
|
|
| 6 |
#define LEFT_HIGH 8
|
|
| 7 |
#define CENTER_LOW 17
|
|
| 8 | 8 |
#define CENTER_HIGH 19 |
| 9 |
#define RIGHT_LOW 12
|
|
| 9 |
#define RIGHT_LOW 11
|
|
| 10 | 10 |
#define RIGHT_HIGH 13 |
| 11 | 11 |
|
| 12 | 12 |
/** |
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/recharge_i2c.h | ||
|---|---|---|
| 6 | 6 |
int recharge_i2c_is_battery_full(void); |
| 7 | 7 |
int recharge_i2c_is_battery_charging(void); |
| 8 | 8 |
|
| 9 |
void recharge_i2c_set_battery_full(int full); |
|
| 10 |
|
|
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/main.c | ||
|---|---|---|
| 12 | 12 |
range_init(); |
| 13 | 13 |
orb_enable(); |
| 14 | 14 |
wl_init(); |
| 15 |
wl_set_channel(0xA); |
|
| 15 | 16 |
//orb_set_color(YELLOW); |
| 16 | 17 |
wl_token_ring_register(); |
| 17 | 18 |
wl_token_ring_join(); |
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/seeking.c | ||
|---|---|---|
| 13 | 13 |
#define SEEK_WITH_HOMING 2 |
| 14 | 14 |
|
| 15 | 15 |
#define SEEKING_BOM_VELOCITY -170 |
| 16 |
#define SEEKING_HOMING_VELOCITY -180 |
|
| 16 |
#define SEEKING_HOMING_VELOCITY -170 |
|
| 17 |
#define SEEKING_HOMING_FORWARD_VELOCITY -180 |
|
| 17 | 18 |
|
| 18 | 19 |
//function prototypes |
| 19 | 20 |
int seek_station_with_bom(int station); |
| ... | ... | |
| 69 | 70 |
int seek_station_with_homing_sensor(void) |
| 70 | 71 |
{
|
| 71 | 72 |
int widthcount = recharge_i2c_get_homing_reading(); |
| 72 |
int direction = homing_direction(widthcount);
|
|
| 73 |
|
|
| 74 |
switch(direction)
|
|
| 75 |
{
|
|
| 76 |
case HOMING_NONE:
|
|
| 77 |
return SEEK_WITH_BOM;
|
|
| 78 |
break;
|
|
| 79 |
case HOMING_FORWARD:
|
|
| 80 |
move(SEEKING_HOMING_VELOCITY, 0);
|
|
| 81 |
break;
|
|
| 82 |
case HOMING_LEFT:
|
|
| 83 |
move(SEEKING_HOMING_VELOCITY, 3);
|
|
| 84 |
break;
|
|
| 85 |
case HOMING_RIGHT:
|
|
| 86 |
move(SEEKING_HOMING_VELOCITY, -3);
|
|
| 87 |
break;
|
|
| 88 |
}
|
|
| 89 |
|
|
| 73 |
int direction = homing_direction(widthcount);
|
|
| 74 |
|
|
| 75 |
switch(direction)
|
|
| 76 |
{
|
|
| 77 |
case HOMING_NONE:
|
|
| 78 |
return SEEK_WITH_BOM;
|
|
| 79 |
break;
|
|
| 80 |
case HOMING_FORWARD:
|
|
| 81 |
move(SEEKING_HOMING_FORWARD_VELOCITY, 0);
|
|
| 82 |
break;
|
|
| 83 |
case HOMING_LEFT:
|
|
| 84 |
move(SEEKING_HOMING_VELOCITY, 3);
|
|
| 85 |
break;
|
|
| 86 |
case HOMING_RIGHT:
|
|
| 87 |
move(SEEKING_HOMING_VELOCITY, -3);
|
|
| 88 |
break;
|
|
| 89 |
}
|
|
| 90 |
|
|
| 90 | 91 |
return SEEK_WITH_HOMING; |
| 91 | 92 |
} |
| 92 | 93 |
|
| branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/recharge_i2c.c | ||
|---|---|---|
| 44 | 44 |
return recharge_i2c_battery_full; |
| 45 | 45 |
} |
| 46 | 46 |
|
| 47 |
void recharge_i2c_set_battery_full(int full) |
|
| 48 |
{
|
|
| 49 |
if (!full) |
|
| 50 |
recharge_i2c_battery_charging = 0; |
|
| 51 |
recharge_i2c_battery_full = full; |
|
| 52 |
} |
|
| 53 |
|
|
| 47 | 54 |
int recharge_i2c_is_battery_charging() |
| 48 | 55 |
{
|
| 49 | 56 |
return recharge_i2c_battery_charging; |
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