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Bumper check on perioutstop #5

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Bumper check on perioutstop #5

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7cf879a
added CheckBumpers on PeriOutStop
Aug 4, 2021
70a16ff
correction on previous change
Aug 4, 2021
97ffa09
made equal
Aug 4, 2021
ce3d88d
revertedShowMessageLn
Aug 4, 2021
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22 changes: 16 additions & 6 deletions ardumower/robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4394,12 +4394,21 @@ void Robot::checkBumpers() {
motorLeftRpmCurr = motorRightRpmCurr = 0 ;
motorLeftPWMCurr = motorRightPWMCurr = 0;
setMotorPWM( 0, 0, false );
if (bumperLeft) {
ShowMessageln("Bumper left trigger");
reverseOrBidir(LEFT);
} else {
ShowMessageln("Bumper right trigger");
reverseOrBidir(RIGHT);
if (stateCurr == STATE_PERI_OUT_STOP)
{
odometryRight = stateEndOdometryRight;
odometryLeft = stateEndOdometryLeft;
}
else
{
if (bumperLeft)
{
ShowMessageln("Bumper left trigger");
reverseOrBidir(LEFT);
} else {
ShowMessageln("Bumper right trigger");
reverseOrBidir(RIGHT);
}
}
}

Expand Down Expand Up @@ -5753,6 +5762,7 @@ void Robot::loop() {

case STATE_PERI_OUT_STOP:
motorControlOdo();
checkBumpers();
if (((odometryRight >= stateEndOdometryRight) && (odometryLeft >= stateEndOdometryLeft)))
if (motorLeftPWMCurr == 0 && motorRightPWMCurr == 0) { //wait until the 2 motors completly stop because rotation is inverted
setNextState(STATE_PERI_OUT_REV, rollDir);
Expand Down