Revision 645
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.
| 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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