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changeset 65:9bf3dcb10dac

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Battery guard with a delay
author Radomir Dopieralski <sheep-devel@sheep.art.pl>
date Wed, 27 Aug 2014 19:40:50 +0200
parents 0c93a45e1477
children 623f793006ff
files joy.py servo/servo.ino
diffstat 2 files changed, 11 insertions(+), 4 deletions(-) [+]
line wrap: on
line diff
--- a/joy.py	Wed Aug 27 18:57:32 2014 +0200
+++ b/joy.py	Wed Aug 27 19:40:50 2014 +0200
@@ -7,7 +7,7 @@
 import kubik
 import creep
 
-FPS = 24
+FPS = 50
 
 
 class Walk(creep.Creep):
--- a/servo/servo.ino	Wed Aug 27 18:57:32 2014 +0200
+++ b/servo/servo.ino	Wed Aug 27 19:40:50 2014 +0200
@@ -59,6 +59,7 @@
 int serial_command = 0;
 int accel_buffer[MAX_ACCEL_BUFFER][3];
 int accel_buffer_index = 0;
+int battery_fail = 0;
 unsigned long last_tick = 0;
 
 
@@ -252,11 +253,17 @@
 void check_battery() {
     int reading = analogRead(A7);
     if (reading < 762) {
-        /* At about 3.74V start an alarm. */
+        /* At about 3.74V start worrying. */
+        battery_fail += 1;
+    } else {
+        battery_fail = max(0, battery_fail - 1);
+    }
+    if (battery_fail > 10) {
+        /* If it doesn't improve for a second, beep. */
         tone(A3, 880, 100);
     }
-    if (reading < 758) {
-        /* At about 3.72V shut down. */
+    if (battery_fail > 40) {
+        /* If it stays bad for 4s, shut down. */
         fold();
     }
 }