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Revision 715

Added by Chris Mar about 16 years ago

tweaked smart_run_around for recharging...from now on, it will be known as smart_walk/crawl_around. slowing everything down seems to make recharging much more stable. maybe demo-ready.

View differences:

branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/recharge_i2c.c
63 63 
 **/
64 64 
void recharge_i2c_receive(char i2c_byte)
65 65 
{
66 
	//usb_putc(i2c_byte);
66 
    //usb_putc(i2c_byte);
67 67 
    if(recharge_i2c_prev_byte == I2C_MSG_HOMING_DATA)
68 68 
	{
69 69 
		recharge_i2c_homing_sensor_data = i2c_byte;
70 70 
		recharge_i2c_prev_byte = i2c_byte;
71 
        //usb_puti(i2c_byte);
71 72 
		return;
72 73 
	}
73 74 

  		




  ......




  88
  89
  
    
		default:


  		




  89
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			break;


  		




  90
  91
  
    
	}


  		




  
  92
  
    
    recharge_i2c_homing_sensor_data = 0;


  		




  91
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	recharge_i2c_prev_byte = i2c_byte;


  		




  92
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}


  		




  93
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      branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/seeking.c
    
  





  35
  35
  
    
int seek_station_with_bom(int station)


  		




  36
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{


  		




  37
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	int charging_loc = wl_token_get_my_sensor_reading(station);


  		




  
  38
  
    
    /*usb_puts("\n\rBOM reading: ");


  		




  
  39
  
    
	usb_puti(charging_loc);


  		




  
  40
  
    
    usb_puts("\n\r");*/


  		




  38
  41
  
    
	if (charging_loc != old_reading)


  		




  39
  42
  
    
	{


  		




  40
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		RECHARGE_DEBUG_PRINT("BOM reading: ");


  		




  ......




  71
  74
  
    
{


  		




  72
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	int widthcount = recharge_i2c_get_homing_reading();


  		




  73
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	int direction = homing_direction(widthcount);


  		




  
  77
  
    
    /*usb_puts("\n\rHoming Direction: ");


  		




  
  78
  
    
    usb_puti(direction);


  		




  
  79
  
    
    usb_puts("\n\r");*/


  		




  74
  80
  
    

  		




  75
  81
  
    
	switch(direction)


  		




  76
  82
  
    
	{


  		












  

    
      branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/smart_run_around_fsm.h
    
  





  15
  15
  
    

  		




  16
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#define BACKUP_MAX 60


  		




  17
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#define CRAZY_MAX 200       //The number of counts between "crazy moments"


  		




  18
  
  
    
#define STRAIT_SPEED 185    //The speed when going strait or backing up.


  		




  19
  
  
    
#define TURN_CONSTANT 2


  		




  
  18
  
    
#define STRAIT_SPEED 155    //The speed when going strait or backing up.


  		




  
  19
  
    
#define TURN_CONSTANT 5


  		




  20
  20
  
    
#define PCONTROL_CRAZY_LIMIT 80


  		




  21
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  22
  22
  
    
int avoid_state;


  		












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