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Feature/us charger #8

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merged 6 commits into from
Apr 25, 2024
Merged

Feature/us charger #8

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95b4460
changed Relay on sequence for US charger (charger ON -> AMR ON)
takurot Oct 6, 2023
7eb18c0
updated version name
takurot Jan 31, 2024
d84cf05
Merge branch 'main' into feature/us_charger
takurot Apr 11, 2024
44e15b2
removed unnecessary comments
takurot Apr 22, 2024
dd6b82b
fixed coding format
takurot Apr 23, 2024
ff7d2a4
fixed coding format
takurot Apr 23, 2024
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27 changes: 23 additions & 4 deletions main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -399,6 +399,15 @@ class auto_charger { // Variables Half-Implemented (Not Thermistors ADC)
set_enable(false);
send_heartbeat();
}
bool is_charger_ready() const {
if (connector_v > (CHARGING_VOLTAGE * 0.9)) {
LOG("charger ready voltage:%f.\n", connector_v);
return true;
} else {
LOG("connector_v:%f THRESH:%f\n", connector_v, (CHARGING_VOLTAGE * 0.9));
return false;
}
}
void get_connector_temperature(int &positive, int &negative) const {
positive = clamp(static_cast<int>(connector_temp[0]), 0, 255);
negative = clamp(static_cast<int>(connector_temp[1]), 0, 255);
Expand Down Expand Up @@ -475,7 +484,15 @@ class auto_charger { // Variables Half-Implemented (Not Thermistors ADC)
send_heartbeat();
}
void send_heartbeat() { /* Creates the message to send to the robot using the "compose" function below */
uint8_t buf[8], param[3]{++heartbeat_counter, static_cast<uint8_t>(sw.read()), rsoc}; // Message composed of 8 bytes, 3 bytes parameters -- Declaration
uint8_t sw_state{0};

if (is_connected()) {
sw_state = 1;
} else {
sw_state = 0;
}

uint8_t buf[8], param[3]{++heartbeat_counter, sw_state, rsoc}; // Message composed of 8 bytes, 3 bytes parameters -- Declaration
serial_message::compose(buf, serial_message::HEARTBEAT, param);
#ifndef SERIAL_DEBUG
serial.write(buf, sizeof buf);
Expand Down Expand Up @@ -882,8 +899,10 @@ class state_controller { // Variables Implemented
LOG("plugged to manual charger\n");
set_new_state(POWER_STATE::MANUAL_CHARGE);
} else if (!charge_guard_asserted && ac.is_docked() && bmu.is_chargable()) {
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ac.is_docked()とis_charger_ready()の2つで電圧を評価しているのがやや気持ち悪い感じがします。is_docked()が本来は充電中ではない充電器が出している5Vを検出するための関数であるのに、目的外の利用になっているような感じです。
ただ弊害はなく、is_dockedを消しちゃうと温度センサの評価が無くなったりもするので、このまま修正しなくていいのかなと思いました。

LOG("docked to auto charger\n");
set_new_state(POWER_STATE::AUTO_CHARGE);
if (ac.is_charger_ready() == true) {
LOG("docked to auto charger\n");
set_new_state(POWER_STATE::AUTO_CHARGE);
}
}
break;
case POWER_STATE::AUTO_CHARGE:
Expand Down Expand Up @@ -1105,7 +1124,7 @@ class state_controller { // Variables Implemented
watchdog.kick();
}
void poll_10s() {
uint8_t buf[8]{'2', '1', '0'}; // version
uint8_t buf[8]{'2', '2', '0'}; // version
can.send(CANMessage{0x203, buf});
}
can_driver can;
Expand Down
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