Revision 715
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.
| seeking.c | ||
|---|---|---|
| 35 | 35 |
int seek_station_with_bom(int station) |
| 36 | 36 |
{
|
| 37 | 37 |
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 | 43 |
RECHARGE_DEBUG_PRINT("BOM reading: ");
|
| ... | ... | |
| 71 | 74 |
{
|
| 72 | 75 |
int widthcount = recharge_i2c_get_homing_reading(); |
| 73 | 76 |
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 |
{
|
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