Battery and IR noise protection #2
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acornejo
reviewed
Jul 3, 2019
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| Version 2 of the [kilolib library](https://github.com/acornejo/kilolib) has been modified to add IR noise filtering and battery protection. All details can be found on the [kilobots wiki](https://diode.group.shef.ac.uk/kilobots/index.php/Kilobots). | ||
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| For information about the original library, please refer to [https://www.kilobotics.com](https://www.kilobotics.com). |
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please remove this section so we can merge this PR.
| @@ -429,13 +617,16 @@ int16_t get_voltage() { | |||
| adc_start_conversion(); | |||
| adc_finish_conversion(); | |||
| voltage = ADCW; // store AD result | |||
| // adc_trigger_high_gain(); // set AD to measure high gain (for distance sensing) | |||
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| //adc_trigger_high_gain(); // set AD to measure high gain (for distance sensing) | |||
| @@ -505,6 +696,10 @@ ISR(TIMER0_COMPA_vect) { | |||
| OCR0A = tx_increment; | |||
| kilo_ticks++; | |||
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| // Increments counter_ticks_for_voltage by 1 tick until 255 | |||
| if(kilo_state == RUNNING && counter_ticks_for_voltage < 255) | |||
| counter_ticks_for_voltage++; | |||
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this seems like a strange place to be fiddling with voltage. users are not guaranteed to call estimate_Distance, so relying on it will be flaky.
| set_color(RGB(3,3,3)); | ||
| _delay_ms(10); | ||
| if (rx_busy) { | ||
| if(is_in_low_voltage == N_REPETITIONS_LOW_VOLTAGE){ // Low battery |
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this change is pretty intrusive to this function. I think we would want to refactor this into several functions that are called from this to keep the main loop somewhat readable.
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Hi, at the Bristol Robotics Laboratory we have realised that some Kilobots go to SLEEPING or IDLE mode when running, and that hat Firmware 2.0 doesn't have any battery protection. I have implemented some changes to the firmware to filter out noise and to send the Kilobots to sleep when they detect low battery. So far, all tests have been successful. However, more tests from other teams would be very valuable.
More details are given here: https://diode.group.shef.ac.uk/kilobots/index.php/Kilobot_Firmware