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1.0.4 - Battery alert #24

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merged 5 commits into from
Oct 15, 2024
Merged

1.0.4 - Battery alert #24

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3979129
fix behaviour
gbr1 Oct 9, 2024
ac54a92
battery alert behaviour
gbr1 Oct 9, 2024
bfb9cf7
battery percentage is negative if discharging
gbr1 Oct 9, 2024
5a938c7
battery alert
gbr1 Oct 9, 2024
721dc82
1.0.4 - battery alert
gbr1 Oct 10, 2024
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212 changes: 109 additions & 103 deletions examples/firmware/firmware.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -96,110 +96,113 @@ void loop(){
}
if (packeter.checkPayload()) {
code = packeter.payloadTop();
switch (code){
case 'J':
packeter.unpacketC2F(code,left,right);
alvik.disableKinematicsMovement();
alvik.disablePositionControl();
alvik.setRpm(left, right);
break;

case 'V':
packeter.unpacketC2F(code,linear,angular);
alvik.disableKinematicsMovement();
alvik.disablePositionControl();
alvik.drive(linear,angular);
break;

case 'W':
packeter.unpacketC2B1F(code,label,control_type,value);
alvik.disableKinematicsMovement();
if (label=='L'){
switch (control_type){
case 'V':
alvik.disablePositionControlLeft();
alvik.setRpmLeft(value);
break;
case 'P':
alvik.setPositionLeft(value);
ack_required=MOVEMENT_LEFT;
ack_check=true;
break;
case 'Z':
alvik.resetPositionLeft(value);
break;
if (!alvik.isBatteryAlert()){
switch (code){
case 'J':
packeter.unpacketC2F(code,left,right);
alvik.disableKinematicsMovement();
alvik.disablePositionControl();
alvik.setRpm(left, right);
break;

case 'V':
packeter.unpacketC2F(code,linear,angular);
alvik.disableKinematicsMovement();
alvik.disablePositionControl();
alvik.drive(linear,angular);
break;

case 'W':
packeter.unpacketC2B1F(code,label,control_type,value);
alvik.disableKinematicsMovement();
if (label=='L'){
switch (control_type){
case 'V':
alvik.disablePositionControlLeft();
alvik.setRpmLeft(value);
break;
case 'P':
alvik.setPositionLeft(value);
ack_required=MOVEMENT_LEFT;
ack_check=true;
break;
case 'Z':
alvik.resetPositionLeft(value);
break;
}
}
}
if (label=='R'){
switch (control_type){
case 'V':
alvik.disablePositionControlRight();
alvik.setRpmRight(value);
break;
case 'P':
alvik.setPositionRight(value);
ack_required=MOVEMENT_RIGHT;
ack_check=true;
break;
case 'Z':
alvik.resetPositionRight(value);
break;
if (label=='R'){
switch (control_type){
case 'V':
alvik.disablePositionControlRight();
alvik.setRpmRight(value);
break;
case 'P':
alvik.setPositionRight(value);
ack_required=MOVEMENT_RIGHT;
ack_check=true;
break;
case 'Z':
alvik.resetPositionRight(value);
break;
}
}
}
break;


case 'A':
packeter.unpacketC2F(code,position_left, position_right);
alvik.disableKinematicsMovement();
alvik.setPosition(position_left, position_right);
ack_required=MOVEMENT_POSITION;
ack_check=true;
break;


case 'S':
packeter.unpacketC2B(code,servo_A,servo_B);
alvik.setServoA(servo_A);
alvik.setServoB(servo_B);
break;

case 'L':
packeter.unpacketC1B(code,leds);
alvik.setAllLeds(leds);
break;

case 'P':
packeter.unpacketC1B3F(code,pid,kp,ki,kd);
if (pid=='L'){
alvik.setKPidLeft(kp,ki,kd);
}
if (pid=='R'){
alvik.setKPidRight(kp,ki,kd);
}
break;

case 'R':
packeter.unpacketC1F(code, value);
alvik.disablePositionControl();
alvik.rotate(value);
ack_required=MOVEMENT_ROTATE;
ack_check=true;
break;

case 'G':
packeter.unpacketC1F(code, value);
alvik.disablePositionControl();
alvik.move(value);
ack_required=MOVEMENT_MOVE;
ack_check=true;
break;

case 'Z':
packeter.unpacketC3F(code, x, y, theta);
alvik.resetPose(x, y, theta);
break;

break;


case 'A':
packeter.unpacketC2F(code,position_left, position_right);
alvik.disableKinematicsMovement();
alvik.setPosition(position_left, position_right);
ack_required=MOVEMENT_POSITION;
ack_check=true;
break;


case 'S':
packeter.unpacketC2B(code,servo_A,servo_B);
alvik.setServoA(servo_A);
alvik.setServoB(servo_B);
break;

case 'L':
packeter.unpacketC1B(code,leds);
alvik.setAllLeds(leds);
break;

case 'P':
packeter.unpacketC1B3F(code,pid,kp,ki,kd);
if (pid=='L'){
alvik.setKPidLeft(kp,ki,kd);
}
if (pid=='R'){
alvik.setKPidRight(kp,ki,kd);
}
break;

case 'R':
packeter.unpacketC1F(code, value);
alvik.disablePositionControl();
alvik.rotate(value);
ack_required=MOVEMENT_ROTATE;
ack_check=true;
break;

case 'G':
packeter.unpacketC1F(code, value);
alvik.disablePositionControl();
alvik.move(value);
ack_required=MOVEMENT_MOVE;
ack_check=true;
break;

case 'Z':
packeter.unpacketC3F(code, x, y, theta);
alvik.resetPose(x, y, theta);
break;
}
}
switch (code){
case 'X':
packeter.unpacketC1B(code, ack_code);
if (ack_code == 'K') {
Expand All @@ -213,6 +216,9 @@ void loop(){
case 1:
alvik.setBehaviour(LIFT_ILLUMINATOR, true);
break;
case 2:
alvik.setBehaviour(BATTERY_ALERT, true);
break;
default:
alvik.setBehaviour(ALL_BEHAVIOURS, false);
}
Expand Down Expand Up @@ -326,7 +332,7 @@ void loop(){
if (millis()-tbattery>1000){
tbattery = millis();
alvik.updateBMS();
msg_size = packeter.packetC1F('p', alvik.getBatteryChargePercentage());
msg_size = packeter.packetC1F('p', alvik.isBatteryCharging()*alvik.getBatteryChargePercentage());
alvik.serial->write(packeter.msg,msg_size);
}
}
2 changes: 1 addition & 1 deletion library.properties
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
name=Arduino_AlvikCarrier
version=1.0.3
version=1.0.4
author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
maintainer=Arduino <info@arduino.cc>
sentence=Library and firmware for Arduino Alvik Carrier board
Expand Down
84 changes: 59 additions & 25 deletions src/Arduino_AlvikCarrier.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -269,13 +269,20 @@ void Arduino_AlvikCarrier::disconnectExternalI2C(){
/******************************************************************************************************/

int Arduino_AlvikCarrier::beginBMS(){
charging = 0.0;
while(digitalRead(NANO_CHK)==HIGH){}
return bms->begin();
}

void Arduino_AlvikCarrier::updateBMS(){
voltage = bms->readVCell();
state_of_charge = bms->readSoc();
if (bms->isCharging()){
charging = 1.0;
}
else{
charging = -1.0;
}
}


Expand All @@ -287,6 +294,14 @@ float Arduino_AlvikCarrier::getBatteryChargePercentage(){
return state_of_charge;
}

float Arduino_AlvikCarrier::isBatteryCharging(){
return charging;
}

bool Arduino_AlvikCarrier::isBatteryAlert(){
return battery_alert;
}



/******************************************************************************************************/
Expand Down Expand Up @@ -969,43 +984,62 @@ void Arduino_AlvikCarrier::beginBehaviours(){
prev_illuminator_state = illuminator_state;
behaviours = 0;
first_lift = true;
battery_alert_time = millis();
battery_alert_wave = 100;
battery_alert = false;
}


void Arduino_AlvikCarrier::updateBehaviours(){
if (behaviours|=1 == 1){
/*

// illuminator off on lift
if ((1<<(LIFT_ILLUMINATOR-1)) & behaviours){

if (isLifted()&&first_lift){
first_lift = false;
prev_illuminator_state = illuminator_state;
disableIlluminator();
//disableIlluminator();
setIlluminator(LOW);
first_lift=false;
}
if (isLifted()&&!first_lift) {
if (prev_illuminator_state!=0){
disableIlluminator();
else{
if (!isLifted()){
setIlluminator(prev_illuminator_state);
}
}
if (!isLifted()&&!first_lift){
if (prev_illuminator_state!=0){
//first_lift = true;
enableIlluminator();
if (!isLifted()&&!first_lift){
first_lift = true;
}
}
*/
if (isLifted()&&first_lift){
//disableIlluminator();
setIlluminator(LOW);
first_lift=false;
}
else{
if (!isLifted()){
setIlluminator(prev_illuminator_state);
}

// battery alert
if ((1<<(BATTERY_ALERT-1)) & behaviours){
if ((isBatteryCharging()==-1)&&(getBatteryChargePercentage()<BATTERY_ALERT_MINIMUM_CHARGE)){
if (millis()-battery_alert_time>battery_alert_wave){
battery_alert_time = millis();
if (battery_alert_wave==400){
setLeds(COLOR_RED);
setLedBuiltin(HIGH);
battery_alert_wave=100;
}
else{
setLeds(COLOR_BLACK);
setLedBuiltin(LOW);
battery_alert_wave=400;
}
}
if (getBatteryChargePercentage()<BATTERY_ALERT_STOP_CHARGE){
battery_alert = true;
setRpm(0,0);
setIlluminator(false);
}
}
if (!isLifted()&&!first_lift){
first_lift = true;
else{
battery_alert = false;
}
}
}
else{
battery_alert = false;
}

}

void Arduino_AlvikCarrier::setBehaviour(const uint8_t behaviour, const bool enable){
Expand Down
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