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robot: do not check for linearmotion time + DEADTIME - instead use a… #113

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robot: do not check for linearmotion time + DEADTIME - instead use a… #113

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39 changes: 28 additions & 11 deletions sunray/robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -147,6 +147,9 @@ unsigned long nextTempTime = 0;
unsigned long imuDataTimeout = 0;
unsigned long nextSaveTime = 0;

unsigned long liftTimeout = 0;
unsigned long bumperTimeout = 0;

bool wifiFound = false;
char ssid[] = WIFI_SSID; // your network SSID (name)
char pass[] = WIFI_PASS; // your network password
Expand Down Expand Up @@ -744,22 +747,36 @@ bool detectObstacle(){

#ifdef ENABLE_LIFT_DETECTION
#ifdef LIFT_OBSTACLE_AVOIDANCE
if ( (millis() > linearMotionStartTime + BUMPER_DEADTIME) && (liftDriver.triggered()) ) {
CONSOLE.println("lift sensor obstacle!");
statMowBumperCounter++;
triggerObstacle();
return true;
if (liftDriver.triggered()) {
if (liftTimeout == 0) {
liftTimeout = millis() + BUMPER_DEADTIME;
} else if (liftTimeout < millis()) {
liftTimeout = 0;
CONSOLE.println("lift sensor obstacle!");
statMowBumperCounter++;
triggerObstacle();
return true;
}
} else {
liftTimeout = 0;
}
#endif
#endif

if ( (millis() > linearMotionStartTime + BUMPER_DEADTIME) && (bumper.obstacle()) ){
CONSOLE.println("bumper obstacle!");
statMowBumperCounter++;
triggerObstacle();
return true;
if (bumper.obstacle()) {
if (bumperTimeout == 0) {
bumperTimeout = millis() + BUMPER_DEADTIME;
} else if (bumperTimeout < millis()) {
bumperTimeout = 0;
CONSOLE.println("bumper obstacle!");
statMowBumperCounter++;
triggerObstacle();
return true;
}
} else {
bumperTimeout = 0;
}

if (sonar.obstacle() && (maps.wayMode != WAY_DOCK)){
CONSOLE.println("sonar obstacle!");
statMowSonarCounter++;
Expand Down