fix behaviour

arduino-libraries · Oct 9, 2024 · 3979129 · 3979129
1 parent a7a796f
commit 3979129
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Showing 3 changed files with 22 additions and 27 deletions.
diff --git a/examples/firmware/firmware.ino b/examples/firmware/firmware.ino
@@ -213,6 +213,9 @@ void loop(){
           case 1: 
             alvik.setBehaviour(LIFT_ILLUMINATOR, true);
             break;
+          case 2:
+            alvik.setBehaviour(BATTERY_ALERT, true);
+            break;
           default:
             alvik.setBehaviour(ALL_BEHAVIOURS, false);
         }

diff --git a/src/Arduino_AlvikCarrier.cpp b/src/Arduino_AlvikCarrier.cpp
@@ -973,39 +973,30 @@ void Arduino_AlvikCarrier::beginBehaviours(){
 
 
 void Arduino_AlvikCarrier::updateBehaviours(){
-    if (behaviours|=1 == 1){
-        /*
+    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);
-        }
-        if (!isLifted()&&!first_lift){
-            first_lift = true;
-        }
-       }
     }
+
+    if ((1 << (BATTERY_ALERT-1)) & behaviours){
+        led1->setRed(true);
+    }
+    else{
+        led1->setRed(false);
+    }
+
 }
 
 void Arduino_AlvikCarrier::setBehaviour(const uint8_t behaviour, const bool enable){

diff --git a/src/definitions/robot_definitions.h b/src/definitions/robot_definitions.h
@@ -68,6 +68,7 @@ const float MOTOR_RATIO = MOTOR_CPR*MOTOR_GEAR_RATIO;
 
 #define ALL_BEHAVIOURS 255
 #define LIFT_ILLUMINATOR 1
+#define BATTERY_ALERT 2
Original file line number	Diff line number	Diff line change
Expand Up		@@ -68,6 +68,7 @@ const float MOTOR_RATIO = MOTOR_CPR*MOTOR_GEAR_RATIO;

		#define ALL_BEHAVIOURS 255
		#define LIFT_ILLUMINATOR 1
		#define BATTERY_ALERT 2



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