Diff: main.cpp

Revision:

23:e1e6411e5221

Parent:

22:fe373ba68df3

Child:

24:7fa7383e1b07

--- a/main.cpp	Tue Dec 04 16:32:40 2018 +0000
+++ b/main.cpp	Tue Dec 04 16:56:52 2018 +0000
@@ -8,7 +8,7 @@
 #define FILENAME "/robot/data.txt"  //filename to write backups to
 
 //Team calibrated parameters for car and battery
-#define LOW_BATTERY_VOLTAGE 4.2  //measured voltage where charging is required
+#define LOW_BATTERY_VOLTAGE 4.75  //measured voltage where charging is required
 #define CHARGE_TIME 20 //in seconds. 1200 seconds = 20 minutes
 #define CROSSROAD_REFL_VAL 350 //sensor reading on PC0 and PC4 at crossroad
 
@@ -26,7 +26,7 @@
 #define MAX 1.0
 #define MIN 0
 #define OPTIMAL_SPEED 0.8  //Current targeted optimal speed
-#define PIT_SPEED 0.3  //Speed on a pit lap to avoid overshooting the pit
+#define PIT_SPEED 0.5  //Speed on a pit lap to avoid overshooting the pit
 #define DECELLERATION 0.1 //Rate of decelleration to avoid bumping
 
 // PID terms
@@ -318,34 +318,17 @@
       
       
       /* 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
-      
-      
-      
-      
+        AfterPitAdmin: Calibrate sensors
+        show_results_on_display
+        check_sensors_for_errors
       */