connection to port is not solid
kaeverens opened this issue · comments
the port connection is currently handled using pogo-pins on the port side and bolts on the robot side. a solid connection good enough for serial port communication relies on the robot pressing firmly enough that it forms contact with all pins.
this does not always happen. sometimes the robot will bounce off the port wall. sometimes the pressure of the pins and front switch of the robot will push it away enough that at least one pin disconnects.
a possible long-term solution is that we reduce the connection to just VCC and Ground, and use radio or bluetooth communication instead of serial so we don't need so many pins.
another possible solution is that the transport layer will have a "hook" that connects to the port wall when it is close enough, and a solenoid to disconnect that hook when the robot needs to drive off. that's actually probably the simplest solution, I think
I looked into bluetooth - it's apparently possible to program n arduino remotely using a HCL-05 bluetooth module.
I wonder is it possible to then also use that same module for communication, or is it stuck as a remote programmer once set up?
suggestion from here: https://robotics.stackexchange.com/questions/21899/solid-communication-methods-for-a-docking-robot
add two outer pins that are shorted. the robot butts against the pins as normal, and treats those outer pins as a switch. if the switch is closed, then the connection is solid. otherwise, it retries the connection.