Timer problem

[alda]

Hi,
during my test I found one more problem. Currently with Timer :
When Timer is on and I have two defined times :
1 window - Monday - Friday 5:00 - 6:30
2 window - Monday - Friday 14:00 - 16:00

Problem is, that mower will start the operation and after minute will stop the operation and track into charging station. When it is in the station, after one minute will start operation again. I think it's problem in checkTimer :

// check timer
void Robot::checkTimer(){
  if (millis() < nextTimeTimer) return;
  nextTimeTimer = millis() + 60000;
  srand(time2minutes(datetime.time)); // initializes the pseudo-random number generator for c++ rand()
  randomSeed(time2minutes(datetime.time)); // initializes the pseudo-random number generator for arduino random()
  receiveGPSTime(); 
  boolean stopTimerTriggered = true;
  if (timerUse){    
    for (int i=0; i < MAX_TIMERS; i++){
      if (timer[i].active){
        if  ( (timer[i].daysOfWeek & (1 << datetime.date.dayOfWeek)) != 0) {
          int startmin = time2minutes(timer[i].startTime);
          int stopmin =  time2minutes(timer[i].stopTime);
          int currmin =  time2minutes(datetime.time);
          if ((currmin >= startmin) && (currmin < stopmin)){
            // start timer triggered
            stopTimerTriggered = false;
            if ((stateCurr == STATE_STATION) || (stateCurr == STATE_OFF)){
              Console.println(F("timer start triggered"));
              motorMowEnable = true;
              setNextState(STATE_FORWARD, 0);
            } 
          }           
        }
      if ((stopTimerTriggered) && (timer[i].active)){
      if (stateCurr == STATE_FORWARD){
        Console.println(F("timer stop triggered"));
        if (perimeterUse){
        setNextState(STATE_PERI_FIND, 0);
      }
        else setNextState(STATE_OFF,0);
      } 
    }
      }
    }
  }
}

Can you please say that it's a bug?



Alex

 

[alda]

Suggested solution :

// check timer
void Robot::checkTimer(){
  if (millis() < nextTimeTimer) return;
  nextTimeTimer = millis() + 60000;
  srand(time2minutes(datetime.time)); // initializes the pseudo-random number generator for c++ rand()
  randomSeed(time2minutes(datetime.time)); // initializes the pseudo-random number generator for arduino random()
  receiveGPSTime(); 
  
  boolean stopTimerTriggered = true;
  boolean oneTimerActive = false;
  
  if (timerUse){    
    for (int i=0; i < MAX_TIMERS; i++){
      if (timer[i].active){
        oneTimerActive = true;
        if  ( (timer[i].daysOfWeek & (1 << datetime.date.dayOfWeek)) != 0) {  
          int startmin = time2minutes(timer[i].startTime);
          int stopmin =  time2minutes(timer[i].stopTime);
          int currmin =  time2minutes(datetime.time);
          if ((currmin >= startmin) && (currmin < stopmin)){
            // start timer triggered
            stopTimerTriggered = false;
           } 
          }           
         }
        }
       if ((stopTimerTriggered) && (oneTimerActive)){
        if (stateCurr == STATE_FORWARD){
        Console.println(F("timer stop triggered"));
        if (perimeterUse){
        setNextState(STATE_PERI_FIND, 0);
        }
        else setNextState(STATE_OFF,0);
        } 
       }
       if ((!stopTimerTriggered) && (oneTimerActive)){
        if ((stateCurr == STATE_STATION) || (stateCurr == STATE_OFF)){
              Console.println(F("timer start triggered"));
              motorMowEnable = true;
              setNextState(STATE_FORWARD, 0);
        }
      }
   }
}

First we check all Timers (if one is active and if there is request for mowing). After this we make a actions.
Hope no errors.

Alex

 

[alda]

Tested and working.

Alex