Diff: main.cpp

Revision:

17:c2e21d347ca5

Parent:

16:48b81a9246e6

Child:

18:8b3efa4d4a36

--- a/main.cpp	Sun Dec 02 14:41:15 2018 +0000
+++ b/main.cpp	Sun Dec 02 15:10:57 2018 +0000
@@ -65,7 +65,67 @@
     float speed = MAX;
     int sensor_val[5];
     
+    
+    /* if restartedFromOff: Load values from file, recalibrate and start.
+    */
+    
     while (1) {
+      
+      /*
+      switch
+          if nothing else: line following
+          if low_batt: slow down and continue
+          if atPitIntersection: increment internal lap counter
+          if low_batt && atPitIntersection: Stop && execute pit navigation program
+          if all_sensors == 1000 (lifted from track): 
+                show Wh and pitstops on display
+                stop motors, reset PID errors, wait 20 secs, recalibrate sensors
+                
+          if all_sensors < 90 (driven off track):
+                stop and ask for help? Flash LEDs? turn back and continue? Reset PID errors
+      
+      Periodically (not necessarily every lap - maybe every 2-5th lap):
+        Save to file -> possibly only after pit
+        Check battery voltage -> every couple of minutes
+        Check light sensors for drift -> recalibrate (optional)
+        
+      */
+      
+      
+      
+      /* Separate functions
+        pit_navigation (entering pit from T-intersection all the way to the charger)
+        pit_execution (only when connected to charger - voltage > V_CHARGER_MIN
+            add 1 to number of pitstops
+            charge and wait for signal from the external charging circuit
+                during charging: integrate  v(t) dt, add to cumulative sum
+            when fully charged (or signal goes high):
+                Calculate delta_Wh ( integrate{ v(t) dt} * u * 1/3600 ) 
+                Calculate total_Wh
+                save progress data to file
+            leave the charger -> pass control to pit_exit
+            
+        pit_exit
+            reverse out of the pit back to T-intersection
+            continue line following away from T-intersection, recal sensors after a few seconds
+            
+      
+        AfterPitAdmin: Calibrate sensors, save state to file, 
+          
+        show_results_on_display:
+          
+        check_sensors_for_errors:
+        
+        check_battery_voltage -> return true false
+            compare m3pi.battery() < V_CRITICAL
+      
+      
+      
+      HUSK FOR POKKER KOLLES KODESTANDARD!
+      
+      */
+      
+      
       // Get the position of the line.
         current_pos_of_line = m3pi.line_position();        
         proportional = current_pos_of_line;