Projects / emss / Tests / Docking Algorithm

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[edit] Docking Algorithm

[edit] Docking Requirements

The following speeds are sufficient for docking the emss Robot on the modified docking station:

  • 150 mmps: no
  • 180 mmps: no
  • 200 mmps: no
  • 230 mmps: no
  • 250 mmps: no
  • 270 mmps: yes

At 270 mmps the following runway (from the frontal tip of the robot to the frontal tip of the base of the dock station) minimum works:

  • 70 mm: yes (minor struggle)
  • 140 mm: yes (minor struggle)
  • 400 mm: yes

[edit] Undocking Requirements

Undocking requires about 200 mmps in reverse. Note that when in Safe-Mode, the iRobot hardware will not allow it to move until fully charged...

[edit] Docked Status Characteristics

The following are based on an initial state in Full-Mode:

  • When docked, the iRobot remains in the current mode (Full-Mode).
  • When docked, the Home-Base 'docked' light shows
  • When docked, the iRobot's battery DISCHARGES

The following are based on entering Passive-Mode state:

  • When newly docked, the iRobot's battery CHARGES
  • When already docked, the iRobot's battery DISCHARGES <-- design flaw!
  • When docked, Full-Mode can be re-entered

The following are based on sending the StartOI packet over COIL:

  • When newly docked, the iRobot's battery CHARGES
  • When already docked, the iRobot's battery DISCHARGES
  • When docked, Full-Mode can be re-entered
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