From dcb3e3cf9faf4a4021bb38e8ba385a5a2e8aea41 Mon Sep 17 00:00:00 2001
From: Tim Otto <tim@timotto.io>
Date: Sat, 18 Sep 2021 15:19:25 +0200
Subject: [PATCH 1/2] reduce bumper sensitivity

---
 sunray/config_example.h             |  2 +-
 sunray/robot.cpp                    |  2 +-
 sunray/src/driver/AmRobotDriver.cpp | 20 ++++++++++++--------
 sunray/src/driver/AmRobotDriver.h   |  7 +++++--
 4 files changed, 19 insertions(+), 12 deletions(-)

diff --git a/sunray/config_example.h b/sunray/config_example.h
index a908cf2e1..1a4270d38 100644
--- a/sunray/config_example.h
+++ b/sunray/config_example.h
@@ -243,6 +243,7 @@ Also, you may choose the serial port below for serial monitor output (CONSOLE).
 // #define BUMPER_ENABLE true
 #define BUMPER_ENABLE false
 #define BUMPER_DEADTIME 1000  // linear motion dead-time (ms) after bumper is allowed to trigger
+#define BUMPER_TRIGGER_DELAY  2000 // bumper must be active for (ms) to trigger
 
 
 // ----- battery charging current measurement (INA169) --------------
@@ -514,4 +515,3 @@ Also, you may choose the serial port below for serial monitor output (CONSOLE).
 // 2. Locate file 'packages/arduino/hardware/sam/xxxxx/cores/arduino/RingBuffer.h
   
 #define SERIAL_BUFFER_SIZE 1024
-
diff --git a/sunray/robot.cpp b/sunray/robot.cpp
index 0ed46f9fb..4aad33f6f 100644
--- a/sunray/robot.cpp
+++ b/sunray/robot.cpp
@@ -59,7 +59,7 @@ MPU9250_DMP imu;
   AmRobotDriver robotDriver;
   AmMotorDriver motorDriver;
   AmBatteryDriver batteryDriver;
-  AmBumperDriver bumper;
+  AmBumperDriver bumper(2000);
   AmStopButtonDriver stopButton;
   AmRainSensorDriver rainDriver;
 #endif
diff --git a/sunray/src/driver/AmRobotDriver.cpp b/sunray/src/driver/AmRobotDriver.cpp
index da9b99e32..588f2f7ef 100644
--- a/sunray/src/driver/AmRobotDriver.cpp
+++ b/sunray/src/driver/AmRobotDriver.cpp
@@ -14,8 +14,8 @@ volatile int odomTicksLeft  = 0;
 volatile int odomTicksRight = 0;
 
 
-volatile bool leftPressed = false;
-volatile bool rightPressed = false;
+volatile uint32_t leftTriggeredSince = 0;
+volatile uint32_t rightTriggeredSince = 0;
 
 
 bool faultActive  = LOW; 
@@ -281,11 +281,11 @@ void AmBatteryDriver::keepPowerOn(bool flag){
 
 // ------------------------------------------------------------------------------------
 void BumperLeftInterruptRoutine(){
-  leftPressed = (digitalRead(pinBumperLeft) == LOW);  
+  leftTriggeredSince = digitalRead(pinBumperLeft) == LOW ? millis() : 0;
 }
 
 void BumperRightInterruptRoutine(){
-  rightPressed = (digitalRead(pinBumperRight) == LOW);  
+  rightTriggeredSince = digitalRead(pinBumperRight) == LOW ? millis() : 0;
 }
 
 
@@ -297,14 +297,18 @@ void AmBumperDriver::begin(){
 }
 
 void AmBumperDriver::getTriggeredBumper(bool &leftBumper, bool &rightBumper){
-  leftBumper = leftPressed;
-  rightBumper = rightPressed;
+  const uint32_t now = millis();
+  leftBumper = leftTriggeredSince != 0 && (now - leftTriggeredSince) > triggerTime;
+  rightBumper = rightTriggeredSince != 0 && (now - rightTriggeredSince) > triggerTime;
 }
 
 bool AmBumperDriver::obstacle(){
-  return (leftPressed || rightPressed);
+  bool left, right;
+  getTriggeredBumper(left, right);
+
+  return left || right;
 }
-    
+
 
 void AmBumperDriver::run(){  
 }
diff --git a/sunray/src/driver/AmRobotDriver.h b/sunray/src/driver/AmRobotDriver.h
index f0ca0ce9c..25b35bd41 100644
--- a/sunray/src/driver/AmRobotDriver.h
+++ b/sunray/src/driver/AmRobotDriver.h
@@ -56,13 +56,16 @@ class AmBatteryDriver : public BatteryDriver {
 };
 
 class AmBumperDriver: public BumperDriver {
-  public:    
+  private:
+    uint32_t triggerTime;
+  public:
+    AmBumperDriver(uint32_t _triggerTime) : triggerTime(_triggerTime) {}
     void begin() override;
     void run() override;
     bool obstacle() override;
         
     // get triggered bumper
-    void getTriggeredBumper(bool &leftBumper, bool &rightBumper) override;  	  		    
+    void getTriggeredBumper(bool &leftBumper, bool &rightBumper) override;
 };
 
 

From d2a2b924e1e1238b11468415bda73b059a309799 Mon Sep 17 00:00:00 2001
From: Tim Otto <tim@timotto.io>
Date: Thu, 23 Sep 2021 05:23:33 +0200
Subject: [PATCH 2/2] use bumper seneitivity config value

---
 sunray/robot.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunray/robot.cpp b/sunray/robot.cpp
index 4aad33f6f..1f82d0551 100644
--- a/sunray/robot.cpp
+++ b/sunray/robot.cpp
@@ -59,7 +59,7 @@ MPU9250_DMP imu;
   AmRobotDriver robotDriver;
   AmMotorDriver motorDriver;
   AmBatteryDriver batteryDriver;
-  AmBumperDriver bumper(2000);
+  AmBumperDriver bumper(BUMPER_TRIGGER_DELAY);
   AmStopButtonDriver stopButton;
   AmRainSensorDriver rainDriver;
 #endif