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EscapeReverseOp.cpp
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EscapeReverseOp.cpp
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// Ardumower Sunray
// Copyright (c) 2013-2020 by Alexander Grau, Grau GmbH
// Licensed GPLv3 for open source use
// or Grau GmbH Commercial License for commercial use (http://grauonline.de/cms2/?page_id=153)
#include "op.h"
#include <Arduino.h>
#include "../../robot.h"
#include "../../StateEstimator.h"
#include "../../map.h"
String EscapeReverseOp::name(){
return "EscapeReverse";
}
void EscapeReverseOp::begin(){
// obstacle avoidance
driveReverseStopTime = millis() + 3000;
}
void EscapeReverseOp::end(){
}
void EscapeReverseOp::run(){
battery.resetIdle();
motor.setLinearAngularSpeed(-0.1,0);
if (DISABLE_MOW_MOTOR_AT_OBSTACLE) motor.setMowState(false);
if (millis() > driveReverseStopTime){
CONSOLE.println("driveReverseStopTime");
motor.stopImmediately(false);
driveReverseStopTime = 0;
if (detectLift()) {
CONSOLE.println("error: lift sensor!");
stateSensor = SENS_LIFT;
changeOp(errorOp);
return;
}
if (maps.isDocking()){
CONSOLE.println("continue docking");
// continue without obstacles
changeOp(*nextOp, false); // continue current operation
} else {
CONSOLE.println("continue operation with virtual obstacle");
maps.addObstacle(stateX, stateY);
//Point pt;
//if (!maps.findObstacleSafeMowPoint(pt)){
// changeOp(dockOp); // dock if no more (valid) mowing points
//} else changeOp(*nextOp); // continue current operation
changeOp(*nextOp, false); // continue current operation
}
}
}
void EscapeReverseOp::onImuTilt(){
stateSensor = SENS_IMU_TILT;
changeOp(errorOp);
}
void EscapeReverseOp::onImuError(){
stateSensor = SENS_IMU_TIMEOUT;
changeOp(errorOp);
}