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Revision 645

Added by Chris Mar about 16 years ago

Wireless commands to request charge and to depart station now work (don't know what was wrong). Demo is
possible...just need charge boards to work.

View differences:

branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/wl_recharge_group.c
365 365
			break;
366 366
		//TODO: remove this, only for demo purposes
367 367
		case 9:
368
			if (recharge_state == NOT_RECHARGING)
368
			if (recharge_state == NOT_RECHARGING) {
369
				recharge_i2c_set_battery_full(0);
369 370
				wl_recharge_begin();
371
				move(0,0);
372
			}
370 373
			break;
371 374
		case 10:
372 375
			if (recharge_state == DOCKED)
branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/seeking.c
53 53
			err += 16;
54 54
		else if (err > 8)
55 55
			err -= 16;
56
		int w = -err * 2;
56
		int w = -err * 4; // was *2
57 57
		int v = SEEKING_BOM_VELOCITY;
58 58

  
59 59
		move(v, w);
branches/autonomous_recharging/code/projects/libwireless/test/test.c
18 18
	printf("Wireless initialized.\n");
19 19
	printf("Packet groups initialized.\n");
20 20

  
21
	if (c == 'g')
21
	if (c == 'g') { //command robot to requet charge
22 22
		wl_send_robot_to_robot_global_packet(3, 9, NULL, 0, robot, 0);
23
	if (c == 'd')
23
	}
24
	if (c == 'd') { // command robot to depart station
24 25
		wl_send_robot_to_robot_global_packet(3, 10, NULL, 0, robot, 0);
25
	
26
	}
26 27
	wl_terminate();
27 28
	
28 29
	return 0;

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