Implement rain logic #148
Implement rain logic #148
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Adds 3 modes for rain: 0 - Ignore it 1 - Dock when rain detected. If in automatic mode it will resume again when battery is full etc... 2 - Dock until dry. If in automatic mode will resume again when rain is no longer detected for OM_RAIN_DELAY_MINUTES 3 - Pause Automatic Mode. Pauses automatic mode when rain detected. Needs to be manually resumed
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Quite cool flexible implementation! |
| @@ -534,6 +538,29 @@ void checkSafety(const ros::TimerEvent &timer_event) { | |||
| dockingNeeded = true; | |||
| } | |||
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| // Rain detected is initialized to true and flips to false if rain is not detected | |||
| // continuously for rain_check_seconds. This is to avoid false positives due to noise | |||
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TODO: move this logic to the low level firmware
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A positive side of having this in higher level is that rain could be signalled externally without having to reimplement everything. But then again, I guess we could just set manual_pause_mowing...
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I just meant move to logic to deal with noise to the low level firmware so we get a stable true/false from the low level status
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Sorry to dirt your branch, but had problems creating an image for testing. Finally could test. Thanks a lot for this quite cool PR, I do know that a lot of people are waiting for this functionality! |
Adds 3 modes for rain:
0 - Ignore it
1 - Dock when rain detected. If in automatic mode it will resume again when battery is full etc...
2 - Dock until dry. If in automatic mode will resume again when rain is no longer detected for OM_RAIN_DELAY_MINUTES
3 - Pause Automatic Mode. Pauses automatic mode when rain detected. Needs to be manually resumed