diff options
| -rw-r--r-- | robot/mode_chrg.c | 48 | ||||
| -rw-r--r-- | shared/consts.h | 8 |
2 files changed, 30 insertions, 26 deletions
diff --git a/robot/mode_chrg.c b/robot/mode_chrg.c index 201fbdf..dac6174 100644 --- a/robot/mode_chrg.c +++ b/robot/mode_chrg.c @@ -9,8 +9,6 @@ #include <stdio.h> -bool g_w2_chrg_aligned; - void w2_short_drive() { w2_set_motors(50, 50); delay(150); @@ -18,7 +16,7 @@ void w2_short_drive() { } // crosswalk from charging station back to maze -void w2_charge_cross_walk() { +bool w2_charge_cross_walk() { if (g_w2_transition == 0) { w2_set_motors(-30, 30); delay(50); @@ -26,31 +24,36 @@ void w2_charge_cross_walk() { while (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && g_w2_sensors[3] < 100 && g_w2_sensors[4] < 100) { w2_set_motors(15, 15); - delay(550); + delay(W2_GRID_CROSSWALK_DISTANCE); g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); if (g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100) { w2_set_motors(0, 0); g_w2_transition++; if (g_w2_transition == 3) { // TODO: document g_w2_transition w2_set_motors(40, 40); - delay(600); + delay(W2_GRID_CROSSWALK_DISTANCE); w2_set_motors(0, 0); g_w2_transition = 0; w2_modes_swap(W2_M_MAZE); - break; + + return true; } } else { g_w2_transition = 0; w2_maze_rotation_full(); + + return false; } } + return false; } // main function for charge mode void w2_mode_chrg() { static unsigned int last_proportional = 0; - static long integral = 0; + static long integral = 0; + static bool g_w2_chrg_aligned = false; if (g_w2_chrg_aligned) { if (g_w2_target_area == W2_AREA_CHRG) return; @@ -92,30 +95,27 @@ void w2_mode_chrg() { if (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && g_w2_sensors[3] < 100 && g_w2_sensors[4] < 100) { - w2_charge_cross_walk(); - if (g_w2_mode_history[g_w2_mode_history_index] == W2_M_MAZE) { - return; - } + bool success = w2_charge_cross_walk(); + if (success) return; } else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 500 && g_w2_sensors[2] >= 500 && g_w2_sensors[3] >= 500 && g_w2_sensors[4] >= 500) { - if (!g_w2_chrg_aligned) { - w2_set_motors(0, 0); - delay_ms(150); - w2_set_motors(30, 30); - delay_ms(600); - w2_set_motors(0, 0); - delay_ms(600); - g_w2_chrg_aligned = true; + if (g_w2_target_area == W2_AREA_CHRG) { + if (!g_w2_chrg_aligned) { + w2_set_motors(0, 0); + delay_ms(150); + w2_set_motors(30, 30); + delay_ms(600); + w2_set_motors(0, 0); + delay_ms(600); + g_w2_chrg_aligned = true; + } + } else { + w2_maze_rotation_half_left(); } } else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 200 && g_w2_sensors[4] < 100) { w2_maze_rotation_half_left(); - } - - else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 && - g_w2_sensors[3] >= 250 && g_w2_sensors[4] >= 500) { - w2_maze_rotation_half_left(); } else { if (power_difference < 0 && (g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100)) { diff --git a/shared/consts.h b/shared/consts.h index b6be4a4..a083f61 100644 --- a/shared/consts.h +++ b/shared/consts.h @@ -56,10 +56,14 @@ /** battery voltage measurement sample count */ #define W2_BATTERY_SAMPLES 10 /** battery full voltage (millivolts) */ -#define W2_BATTERY_FULL 4500 +#define W2_BATTERY_FULL 5000 /** battery empty voltage (millivolts) */ -#define W2_BATTERY_EMPTY 3300 +#define W2_BATTERY_EMPTY 100 /** battery measurement interval (milliseconds) */ #define W2_BATTERY_MEAS_FREQ 10e3 /** battery low level percentage (target charging station) */ #define W2_BATTERY_PERCENTAGE_LOW 30 + +/** arbitrary grid constants */ +#define W2_GRID_CROSSWALK_DISTANCE 400 + |