From 2d8b2848ca6b35b45a74517b7ff8e54610492b6a Mon Sep 17 00:00:00 2001
From: Lars <netlars@gmx.de>
Date: Mon, 16 Aug 2021 20:38:14 +0200
Subject: [PATCH] change battery handling when mower is in station and beginn
 the charge sequenze

---
 code/ardumower/robot.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/code/ardumower/robot.cpp b/code/ardumower/robot.cpp
index b13f59d4e..35eadf413 100644
--- a/code/ardumower/robot.cpp
+++ b/code/ardumower/robot.cpp
@@ -612,7 +612,7 @@ void Robot::readSensors(){
 
   if (millis() >= nextTimeBattery){
     // read battery
-    nextTimeBattery = millis() + 100;       
+    nextTimeBattery = millis() + 500;       
     if ((abs(chgCurrent) > 0.04) && (chgVoltage > 5)){
       // charging
       batCapacity += (chgCurrent / 36.0);
@@ -633,9 +633,9 @@ void Robot::readSensors(){
     #endif                        // **UZ**
 
     // low-pass filter
-    double accel = 0.01;
+    double accel = 0.5;
 		//double accel = 1.0;
-    if (abs(batVoltage-batvolt)>5)   batVoltage = batvolt; else batVoltage = (1.0-accel) * batVoltage + accel * batvolt;
+    if (abs(batVoltage-batvolt)>8)   batVoltage = batvolt; else batVoltage = (1.0-accel) * batVoltage + accel * batvolt;
     if (abs(chgVoltage-chgvolt)>5)   chgVoltage = chgvolt; else chgVoltage = (1.0-accel) * chgVoltage + accel * chgvolt;
 		if (abs(chgCurrent-curramp)>0.5) chgCurrent = curramp; else chgCurrent = (1.0-accel) * chgCurrent + accel * curramp;       
   } 
@@ -1324,6 +1324,7 @@ void Robot::setNextState(byte stateNew, byte dir){
     //motorMowModulate = false;              
   } 
   if (stateNew == STATE_STATION){
+	nextTimeBattery = millis(); //read immediatly the battery
     setMotorPWM(0,0,false);
     setActuator(ACT_CHGRELAY, 0); 
     setDefaults();