Recently I have been testing a new feature that enables my GoPiGo3 robot Carl to get on a recharge dock when it needs juice, and off when its batteries are fully charged.
The test program is called juicer.py (now juicer3.py since Carl also switched to Python3 yesterday.) I started the juicer3 test last night at 10:15 PM. The test initially performed five undock-dock maneuvers to gain confidence the robot can continue running without my supervision. After the confidence tests, the program begins managing the robot’s battery level by rolling 9 cm off the recharge dock when the batteries begin trickle charging, and then when the battery voltage reaches 8.5v the program executes the docking sequence of moves.
This morning at 7:00 AM, the robot was sitting docked (recharging). Checking the log showed the robot had recently completed its 6th docking of the test and passed 1000 hours of operation since it “began life” in August of last year.
2019-05-07 22:15|[juicer3.py.main]---- juicer.py started
2019-05-07 22:15|[juicer3.py.undock]---- Dismount 1 at 10.3 v after 0.0 h
2019-05-07 22:16|[juicer3.py.dock]---- Docking 1 completed at 10.3 v after 0.0 h
2019-05-07 22:17|[juicer3.py.undock]---- Dismount 2 at 10.3 v after 0.0 h
2019-05-07 22:18|[juicer3.py.dock]---- Docking 2 completed at 10.3 v after 0.0 h
2019-05-07 22:19|[juicer3.py.undock]---- Dismount 3 at 10.3 v after 0.0 h
2019-05-07 22:19|[juicer3.py.dock]---- Docking 3 completed at 10.3 v after 0.0 h
2019-05-07 22:20|[juicer3.py.undock]---- Dismount 4 at 10.3 v after 0.0 h
2019-05-07 22:21|[juicer3.py.dock]---- Docking 4 completed at 10.3 v after 0.0 h
2019-05-07 22:22|[juicer3.py.undock]---- Dismount 5 at 10.3 v after 0.0 h
2019-05-07 22:22|[juicer3.py.dock]---- Docking 5 completed at 10.3 v after 0.0 h
2019-05-07 22:44|[juicer3.py.undock]---- Dismount 6 at 11.4 v after 0.4 h
2019-05-08 06:35|[juicer3.py.dock]---- Docking 6 completed at 8.5 v after 7.9 h
2019-05-08 07:02|lifelog.dEmain execution: 12
pi@Carl : ~/Carl $ ./totallife.shtotal life: 1002hrs
Here is Carl sitting on his recharge docking station:
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