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https://github.com/ev3dev-lang-java/docking-station
Build your docking station for your Brick
https://github.com/ev3dev-lang-java/docking-station
docking-station ev3 ev3dev lejos robotics
Last synced: 9 days ago
JSON representation
Build your docking station for your Brick
- Host: GitHub
- URL: https://github.com/ev3dev-lang-java/docking-station
- Owner: ev3dev-lang-java
- License: mit
- Created: 2017-08-10T18:02:27.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2017-09-09T21:50:11.000Z (over 7 years ago)
- Last Synced: 2024-11-10T21:17:13.980Z (2 months ago)
- Topics: docking-station, ev3, ev3dev, lejos, robotics
- Language: Java
- Size: 4.39 MB
- Stars: 3
- Watchers: 2
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# Docking-station
## Vision
- Why do you `Turn off` the Mindstorms Brick?
## Introduction
[Lego Mindstorms](https://www.lego.com/en-us/mindstorms/) is an educational line of products to learn Robotics.
In the Third generation of the product, exist a [Lego Mindstorms EV3 educational Set](https://education.lego.com/en-us/products/lego-mindstorms-education-ev3-core-set-/5003400)
which includes a [Rechargeable battery (45501)](https://shop.lego.com/en-US/EV3-Rechargeable-DC-Battery-45501) and
a [Battery Charger (45517)](https://shop.lego.com/en-US/Transformer-10V-DC-45517) but the charger, has been
designed to be operated by humans.
> Why not help your robot to recharge itself?
## A solution
### 1. Custom connector
Lego Mindstorms has a [Battery Charger (45517)](https://shop.lego.com/en-US/Transformer-10V-DC-45517)
which allows you to recharge the [Rechargeable battery (45501)](https://shop.lego.com/en-US/EV3-Rechargeable-DC-Battery-45501).
If you do some changes in the cable of the charger, it is possible to create a custom connector like this one:
### 2. Is charging the Brick?
#### 2.1 Using an EV3 Light Sensor
The EV3 Rechargeable battery has 2 leds (green and red).
Using lego Mindstorms has a [Light Sensor (45506)](https://shop.lego.com/en-US/EV3-Color-Sensor-45506)
which it could be used to read the green led enabled which indicates that the battery is charging.
**Limitations:** If you connect the sensor closed to the green led, you loose a Sensor Port.
#### 2.2 Using a HS110 Smart Plug
In the market, exist Smart Plugs which are possible to operate using a REST API.
One product used in this project is [TP HS 110](http://www.tp-link.com/us/products/details/cat-5516_HS110.html):
Using this kind of devices, is possible to know if the EV3 Brick are charging or not:
**Output when an EV3 Brick is not connected:**
```
Parsing: {"emeter":{"get_realtime":{"current":0.012227,"voltage":242.435362,"power":0,"total":0.006000,"err_code":0}}}
Power: 0.0W, Total Consumption: 0.006kWh Current: 0.012227A Voltage: 242.435362
```
**Output when an EV3 Brick is connected:**
```
Parsing: {"emeter":{"get_realtime":{"current":0.038435,"voltage":242.617563,"power":4.639256,"total":0.006000,"err_code":0}}}
Power: 4.639256W, Total Consumption: 0.006kWh Current: 0.038435A Voltage: 242.617563
```
### 3. Where is the Docking Station?
Once, the robot has a connector to use in an autonomous way,
it is necessary to help the robot to locate the docking station.
This kind of problem could be sorted in the **Local Navigation** category.
> **Local navigation:** The ability to determine one's position relative to objects (stationary or moving) in the environment, and not collide with them as one moves.
### 3.1 Using a custom Arduino IR Beacon
Lego Mindstorms EV3 has a [IR Sensor (45509)](https://shop.lego.com/en-US/EV3-Infrared-Sensor-45509)
which is able to process signals from a [IR Beacon (45508)](https://shop.lego.com/en-US/EV3-Infrared-Beacon-45508):
The LEGO IR Beacon is nice but after a period of time, the Beacon shutdown so,
it is necessary to find custom solution which never turn off.
**Note:** `Shane Gingell` from `Out of the BOTS` are working in an Arduino solution.
### 3.2 Add a SLAM Solution
Using a SLAM Solution, it could be possible to know where is the robot with accuracy.
#### ROS Cartographer SLAM
#### LeJOS SLAM System
## Development
### Example:
``` java
package examples;
import com.intrbiz.iot.hs110.HS110Client;
import com.intrbiz.iot.hs110.model.GetRealtime;
import ev3dev.actuators.lego.motors.Motor;
import ev3dev.sensors.Battery;
import ev3dev.sensors.ev3.EV3IRSensor;
import lejos.hardware.port.SensorPort;
import lejos.robotics.RegulatedMotor;
import lejos.robotics.navigation.DifferentialPilot;
import lejos.utility.Delay;
import lombok.extern.slf4j.Slf4j;
import java.io.IOException;
import java.io.InputStream;
import java.util.Properties;
/**
* Created by jabrena on 9/9/17.
*/
public @Slf4j class Demo1 {
private static final int MAX_ITERATIONS = 20;
//Robot Configuration
private static final PilotConfig pilotConf = new PilotConfig();
private static final DifferentialPilot pilot = pilotConf.getPilot();
//EV3 Battery threshold
//private static float EV3BATTERY_WARN_LEVEL = 7.60f;
private static float EV3BATTERY_WARN_LEVEL = 8.00f;
private static float EV3BATTERY_OK_LEVEL = 8.15f;
private static float EV3BATTERY_UNDOCK_LEVEL = 8.25f;
private static float EV3BATTERY_MAX_LEVEL = 8.50f;
//HS110
private static final String HS110_CONFIG_FILE = "HS110.properties";
private static final String HS110_CONFIG_IP_FIELD = "ip";
private static HS110Client hs110;
//MOTORS Used to Uncharge quickly (simulation real activity)
private static RegulatedMotor extraMotor1 = Motor.B;
private static RegulatedMotor extraMotor2 = Motor.C;
public static void main(String[] args) throws Exception {
LOGGER.info("Running a simple FMS to Recharge an EV3 battery");
//To Stop the motor (Example: in case of pkill java for example)
Runtime.getRuntime().addShutdownHook(new Thread(new Runnable() {
public void run() {
pilot.stop();
LOGGER.info("{}", Battery.getInstance().getVoltage());
LOGGER.info("Catakroker!!!");
extraMotor1.stop();
extraMotor2.stop();
}
}));
extraMotor1 = Motor.B;
extraMotor2 = Motor.C;
final Battery EV3Battery = Battery.getInstance();
final String hs110Location = getHS110Location();
hs110 = new HS110Client(hs110Location);
enableLed(0);
float ev3Voltage = 0.0f;
boolean charging = false;
int iteration = 0;
while(true) {
iteration++;
extraMotor1.stop();
extraMotor2.stop();
ev3Voltage = EV3Battery.getVoltage();
charging = updateCharging();
LOGGER.info("Iteration: {}, EV3 Battery: {}, Charging: {}", iteration, ev3Voltage, charging);
if (ev3Voltage <= EV3BATTERY_WARN_LEVEL) {
LOGGER.info("STATE: Go to Docking Station");
pilot.forward();
if (charging) {
pilot.stop();
}
} else if(
(ev3Voltage > EV3BATTERY_WARN_LEVEL) &&
(ev3Voltage <= EV3BATTERY_OK_LEVEL)) {
LOGGER.info("STATE: Charging process");
if(charging) {
pilot.stop();
Delay.msDelay(10000);
}else {
pilot.forward();
}
} else if (
(ev3Voltage > EV3BATTERY_OK_LEVEL) &&
(ev3Voltage <= EV3BATTERY_UNDOCK_LEVEL)) {
LOGGER.info("STATE: Charging Good Level");
if (charging) {
pilot.stop();
Delay.msDelay(10000);
} else {
pilot.forward();
}
} else if (
(ev3Voltage > EV3BATTERY_UNDOCK_LEVEL) &&
(ev3Voltage <= EV3BATTERY_MAX_LEVEL)) {
Delay.msDelay(30000);
if(charging){
LOGGER.info("STATE: Undocking process");
pilot.travel(-20);
pilot.stop();
}
charging = updateCharging();
if(!charging){
LOGGER.info("STATE: Uncharging process");
//extraMotor1.forward();
extraMotor2.forward();
}
Delay.msDelay(5000);
}
}
}
private static boolean updateCharging() throws Exception {
GetRealtime response = hs110.consumption();
return (response.getPower() == 0.0d) ? false : true;
}
private static String getHS110Location() throws IOException {
final InputStream in = ClassLoader.getSystemResourceAsStream(HS110_CONFIG_FILE);
final Properties prop = new Properties();
prop.load(in);
in.close();
return prop.getProperty(HS110_CONFIG_IP_FIELD);
}
private static void enableLed(final int i) throws Exception {
if (i % 2 == 0) {
hs110.ledOn();
} else {
hs110.ledOff();
}
}
}
```
**Traces:**
```
java -server -jar /home/robot/docking-station-0.1.0-SNAPSHOT-all.jar
ev3dev#33|2017-09-09 17:42:32 [main] INFO examples.Demo1 - Running a simple FMS to Recharge an EV3 battery
ev3dev#33|2017-09-09 17:43:04 [main] INFO examples.Demo1 - Iteration: 1, EV3 Battery: 8.142733, Charging: false
ev3dev#33|2017-09-09 17:43:04 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:43:05 [main] INFO examples.Demo1 - Iteration: 2, EV3 Battery: 8.111266, Charging: false
ev3dev#33|2017-09-09 17:43:05 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:43:06 [main] INFO examples.Demo1 - Iteration: 3, EV3 Battery: 8.111266, Charging: false
ev3dev#33|2017-09-09 17:43:06 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:43:07 [main] INFO examples.Demo1 - Iteration: 4, EV3 Battery: 8.111866, Charging: false
ev3dev#33|2017-09-09 17:43:07 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:43:08 [main] INFO examples.Demo1 - Iteration: 5, EV3 Battery: 8.096466, Charging: false
ev3dev#33|2017-09-09 17:43:08 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:43:08 [main] INFO examples.Demo1 - Iteration: 6, EV3 Battery: 8.1122, Charging: false
ev3dev#33|2017-09-09 17:43:08 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:43:09 [main] INFO examples.Demo1 - Iteration: 7, EV3 Battery: 8.149333, Charging: false
ev3dev#33|2017-09-09 17:43:09 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:43:10 [main] INFO examples.Demo1 - Iteration: 8, EV3 Battery: 8.150333, Charging: true
ev3dev#33|2017-09-09 17:43:10 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:43:20 [main] INFO examples.Demo1 - Iteration: 9, EV3 Battery: 8.223, Charging: true
ev3dev#33|2017-09-09 17:43:20 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:43:30 [main] INFO examples.Demo1 - Iteration: 10, EV3 Battery: 8.233, Charging: true
ev3dev#33|2017-09-09 17:43:30 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:43:41 [main] INFO examples.Demo1 - Iteration: 11, EV3 Battery: 8.233, Charging: true
ev3dev#33|2017-09-09 17:43:41 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:43:51 [main] INFO examples.Demo1 - Iteration: 12, EV3 Battery: 8.243, Charging: true
ev3dev#33|2017-09-09 17:43:51 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:44:01 [main] INFO examples.Demo1 - Iteration: 13, EV3 Battery: 8.243, Charging: true
ev3dev#33|2017-09-09 17:44:01 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:44:11 [main] INFO examples.Demo1 - Iteration: 14, EV3 Battery: 8.243, Charging: true
ev3dev#33|2017-09-09 17:44:11 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:44:22 [main] INFO examples.Demo1 - Iteration: 15, EV3 Battery: 8.253, Charging: true
ev3dev#33|2017-09-09 17:44:22 [main] INFO examples.Demo1 - STATE: Undocking process
ev3dev#33|2017-09-09 17:44:24 [main] INFO examples.Demo1 - STATE: Uncharging process
ev3dev#33|2017-09-09 17:44:29 [main] INFO examples.Demo1 - Iteration: 16, EV3 Battery: 8.1466, Charging: false
ev3dev#33|2017-09-09 17:44:29 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:44:30 [main] INFO examples.Demo1 - Iteration: 17, EV3 Battery: 8.131866, Charging: false
ev3dev#33|2017-09-09 17:44:30 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:44:31 [main] INFO examples.Demo1 - Iteration: 18, EV3 Battery: 8.138933, Charging: false
ev3dev#33|2017-09-09 17:44:31 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:44:31 [main] INFO examples.Demo1 - Iteration: 19, EV3 Battery: 8.1312, Charging: false
ev3dev#33|2017-09-09 17:44:31 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:44:32 [main] INFO examples.Demo1 - Iteration: 20, EV3 Battery: 8.121866, Charging: false
ev3dev#33|2017-09-09 17:44:32 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:44:33 [main] INFO examples.Demo1 - Iteration: 21, EV3 Battery: 8.115133, Charging: false
ev3dev#33|2017-09-09 17:44:34 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:44:34 [main] INFO examples.Demo1 - Iteration: 22, EV3 Battery: 8.179333, Charging: true
ev3dev#33|2017-09-09 17:44:34 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:44:45 [main] INFO examples.Demo1 - Iteration: 23, EV3 Battery: 8.242666, Charging: true
ev3dev#33|2017-09-09 17:44:45 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:44:55 [main] INFO examples.Demo1 - Iteration: 24, EV3 Battery: 8.252666, Charging: true
ev3dev#33|2017-09-09 17:44:55 [main] INFO examples.Demo1 - STATE: Undocking process
ev3dev#33|2017-09-09 17:44:57 [main] INFO examples.Demo1 - STATE: Uncharging process
ev3dev#33|2017-09-09 17:45:02 [main] INFO examples.Demo1 - Iteration: 25, EV3 Battery: 8.155, Charging: false
ev3dev#33|2017-09-09 17:45:02 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:45:03 [main] INFO examples.Demo1 - Iteration: 26, EV3 Battery: 8.130866, Charging: false
ev3dev#33|2017-09-09 17:45:03 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:03 [main] INFO examples.Demo1 - Iteration: 27, EV3 Battery: 8.130866, Charging: false
ev3dev#33|2017-09-09 17:45:03 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:04 [main] INFO examples.Demo1 - Iteration: 28, EV3 Battery: 8.131533, Charging: false
ev3dev#33|2017-09-09 17:45:04 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:05 [main] INFO examples.Demo1 - Iteration: 29, EV3 Battery: 8.130866, Charging: false
ev3dev#33|2017-09-09 17:45:05 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:05 [main] INFO examples.Demo1 - Iteration: 30, EV3 Battery: 8.130533, Charging: false
ev3dev#33|2017-09-09 17:45:05 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:06 [main] INFO examples.Demo1 - Iteration: 31, EV3 Battery: 8.1168, Charging: false
ev3dev#33|2017-09-09 17:45:06 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:06 [main] INFO examples.Demo1 - Iteration: 32, EV3 Battery: 8.129866, Charging: false
ev3dev#33|2017-09-09 17:45:07 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:07 [main] INFO examples.Demo1 - Iteration: 33, EV3 Battery: 8.067533, Charging: false
ev3dev#33|2017-09-09 17:45:07 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:08 [main] INFO examples.Demo1 - Iteration: 34, EV3 Battery: 8.178333, Charging: false
ev3dev#33|2017-09-09 17:45:08 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:45:08 [main] INFO examples.Demo1 - Iteration: 35, EV3 Battery: 8.179, Charging: true
ev3dev#33|2017-09-09 17:45:08 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:45:19 [main] INFO examples.Demo1 - Iteration: 36, EV3 Battery: 8.243, Charging: true
ev3dev#33|2017-09-09 17:45:19 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:45:29 [main] INFO examples.Demo1 - Iteration: 37, EV3 Battery: 8.243, Charging: true
ev3dev#33|2017-09-09 17:45:29 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:45:39 [main] INFO examples.Demo1 - Iteration: 38, EV3 Battery: 8.253, Charging: true
ev3dev#33|2017-09-09 17:45:39 [main] INFO examples.Demo1 - STATE: Undocking process
ev3dev#33|2017-09-09 17:45:41 [main] INFO examples.Demo1 - STATE: Uncharging process
ev3dev#33|2017-09-09 17:45:46 [main] INFO examples.Demo1 - Iteration: 39, EV3 Battery: 8.154666, Charging: false
ev3dev#33|2017-09-09 17:45:46 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:45:47 [main] INFO examples.Demo1 - Iteration: 40, EV3 Battery: 8.1312, Charging: false
ev3dev#33|2017-09-09 17:45:47 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:47 [main] INFO examples.Demo1 - Iteration: 41, EV3 Battery: 8.139533, Charging: false
ev3dev#33|2017-09-09 17:45:47 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:48 [main] INFO examples.Demo1 - Iteration: 42, EV3 Battery: 8.139866, Charging: false
ev3dev#33|2017-09-09 17:45:48 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:48 [main] INFO examples.Demo1 - Iteration: 43, EV3 Battery: 8.130866, Charging: false
ev3dev#33|2017-09-09 17:45:48 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:49 [main] INFO examples.Demo1 - Iteration: 44, EV3 Battery: 8.131533, Charging: false
ev3dev#33|2017-09-09 17:45:49 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:50 [main] INFO examples.Demo1 - Iteration: 45, EV3 Battery: 8.121866, Charging: false
ev3dev#33|2017-09-09 17:45:50 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:50 [main] INFO examples.Demo1 - Iteration: 46, EV3 Battery: 8.122466, Charging: false
ev3dev#33|2017-09-09 17:45:50 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:51 [main] INFO examples.Demo1 - Iteration: 47, EV3 Battery: 8.1478, Charging: false
ev3dev#33|2017-09-09 17:45:51 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:45:52 [main] INFO examples.Demo1 - Iteration: 48, EV3 Battery: 8.062733, Charging: true
ev3dev#33|2017-09-09 17:45:52 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:02 [main] INFO examples.Demo1 - Iteration: 49, EV3 Battery: 8.243, Charging: true
ev3dev#33|2017-09-09 17:46:03 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:46:13 [main] INFO examples.Demo1 - Iteration: 50, EV3 Battery: 8.253, Charging: true
ev3dev#33|2017-09-09 17:46:13 [main] INFO examples.Demo1 - STATE: Undocking process
ev3dev#33|2017-09-09 17:46:20 [main] INFO examples.Demo1 - Iteration: 51, EV3 Battery: 8.155, Charging: false
ev3dev#33|2017-09-09 17:46:20 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:46:20 [main] INFO examples.Demo1 - Iteration: 52, EV3 Battery: 8.1238, Charging: false
ev3dev#33|2017-09-09 17:46:20 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:21 [main] INFO examples.Demo1 - Iteration: 53, EV3 Battery: 8.130533, Charging: false
ev3dev#33|2017-09-09 17:46:21 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:21 [main] INFO examples.Demo1 - Iteration: 54, EV3 Battery: 8.122466, Charging: false
ev3dev#33|2017-09-09 17:46:21 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:22 [main] INFO examples.Demo1 - Iteration: 55, EV3 Battery: 8.132133, Charging: false
ev3dev#33|2017-09-09 17:46:22 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:22 [main] INFO examples.Demo1 - Iteration: 56, EV3 Battery: 8.1312, Charging: false
ev3dev#33|2017-09-09 17:46:22 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:23 [main] INFO examples.Demo1 - Iteration: 57, EV3 Battery: 8.1312, Charging: false
ev3dev#33|2017-09-09 17:46:23 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:23 [main] INFO examples.Demo1 - Iteration: 58, EV3 Battery: 8.139866, Charging: false
ev3dev#33|2017-09-09 17:46:23 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:24 [main] INFO examples.Demo1 - Iteration: 59, EV3 Battery: 8.1168, Charging: false
ev3dev#33|2017-09-09 17:46:24 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:24 [main] INFO examples.Demo1 - Iteration: 60, EV3 Battery: 8.101, Charging: true
ev3dev#33|2017-09-09 17:46:24 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:34 [main] INFO examples.Demo1 - Iteration: 61, EV3 Battery: 8.242666, Charging: true
ev3dev#33|2017-09-09 17:46:34 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:46:44 [main] INFO examples.Demo1 - Iteration: 62, EV3 Battery: 8.252666, Charging: true
ev3dev#33|2017-09-09 17:46:44 [main] INFO examples.Demo1 - STATE: Undocking process
ev3dev#33|2017-09-09 17:46:51 [main] INFO examples.Demo1 - Iteration: 63, EV3 Battery: 8.165, Charging: false
ev3dev#33|2017-09-09 17:46:51 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:46:52 [main] INFO examples.Demo1 - Iteration: 64, EV3 Battery: 8.132133, Charging: false
ev3dev#33|2017-09-09 17:46:52 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:52 [main] INFO examples.Demo1 - Iteration: 65, EV3 Battery: 8.123466, Charging: false
ev3dev#33|2017-09-09 17:46:52 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:53 [main] INFO examples.Demo1 - Iteration: 66, EV3 Battery: 8.1312, Charging: false
ev3dev#33|2017-09-09 17:46:53 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:53 [main] INFO examples.Demo1 - Iteration: 67, EV3 Battery: 8.131533, Charging: false
ev3dev#33|2017-09-09 17:46:53 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:54 [main] INFO examples.Demo1 - Iteration: 68, EV3 Battery: 8.130866, Charging: false
ev3dev#33|2017-09-09 17:46:54 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:54 [main] INFO examples.Demo1 - Iteration: 69, EV3 Battery: 8.1312, Charging: false
ev3dev#33|2017-09-09 17:46:54 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:55 [main] INFO examples.Demo1 - Iteration: 70, EV3 Battery: 8.139866, Charging: false
ev3dev#33|2017-09-09 17:46:55 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:55 [main] INFO examples.Demo1 - Iteration: 71, EV3 Battery: 8.139866, Charging: false
ev3dev#33|2017-09-09 17:46:55 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:55 [main] INFO examples.Demo1 - Iteration: 72, EV3 Battery: 8.130866, Charging: false
ev3dev#33|2017-09-09 17:46:55 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:56 [main] INFO examples.Demo1 - Iteration: 73, EV3 Battery: 8.139266, Charging: false
ev3dev#33|2017-09-09 17:46:56 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:56 [main] INFO examples.Demo1 - Iteration: 74, EV3 Battery: 8.122133, Charging: false
ev3dev#33|2017-09-09 17:46:56 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:46:57 [main] INFO examples.Demo1 - Iteration: 75, EV3 Battery: 8.188333, Charging: false
ev3dev#33|2017-09-09 17:46:57 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:46:58 [main] INFO examples.Demo1 - Iteration: 76, EV3 Battery: 8.1388, Charging: true
ev3dev#33|2017-09-09 17:46:58 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:47:08 [main] INFO examples.Demo1 - Iteration: 77, EV3 Battery: 8.253, Charging: true
ev3dev#33|2017-09-09 17:47:08 [main] INFO examples.Demo1 - STATE: Undocking process
ev3dev#33|2017-09-09 17:47:10 [main] INFO examples.Demo1 - STATE: Uncharging process
ev3dev#33|2017-09-09 17:47:16 [main] INFO examples.Demo1 - Iteration: 78, EV3 Battery: 8.1566, Charging: false
ev3dev#33|2017-09-09 17:47:16 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:47:16 [main] INFO examples.Demo1 - Iteration: 79, EV3 Battery: 8.123466, Charging: false
ev3dev#33|2017-09-09 17:47:16 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:47:16 [main] INFO examples.Demo1 - Iteration: 80, EV3 Battery: 8.1312, Charging: false
ev3dev#33|2017-09-09 17:47:16 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:47:17 [main] INFO examples.Demo1 - Iteration: 81, EV3 Battery: 8.130866, Charging: false
ev3dev#33|2017-09-09 17:47:17 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:47:17 [main] INFO examples.Demo1 - Iteration: 82, EV3 Battery: 8.131533, Charging: false
ev3dev#33|2017-09-09 17:47:17 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:47:18 [main] INFO examples.Demo1 - Iteration: 83, EV3 Battery: 8.130866, Charging: false
ev3dev#33|2017-09-09 17:47:18 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:47:18 [main] INFO examples.Demo1 - Iteration: 84, EV3 Battery: 8.1158, Charging: false
ev3dev#33|2017-09-09 17:47:18 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:47:19 [main] INFO examples.Demo1 - Iteration: 85, EV3 Battery: 8.122466, Charging: false
ev3dev#33|2017-09-09 17:47:19 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:47:19 [main] INFO examples.Demo1 - Iteration: 86, EV3 Battery: 8.129533, Charging: false
ev3dev#33|2017-09-09 17:47:19 [main] INFO examples.Demo1 - STATE: Charging process
ev3dev#33|2017-09-09 17:47:20 [main] INFO examples.Demo1 - Iteration: 87, EV3 Battery: 8.171933, Charging: true
ev3dev#33|2017-09-09 17:47:20 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:47:30 [main] INFO examples.Demo1 - Iteration: 88, EV3 Battery: 8.243, Charging: true
ev3dev#33|2017-09-09 17:47:30 [main] INFO examples.Demo1 - STATE: Charging Good Level
ev3dev#33|2017-09-09 17:47:33 [Thread-1] INFO examples.Demo1 - 8.253
ev3dev#33|2017-09-09 17:47:33 [Thread-1] INFO examples.Demo1 - Catakroker!!!
```
## TODO
- Improve the FSM Design
- Add Custom IR Beacon in the installation.
- Build a better physical docking station, increasing the available angles to connect
- Add SLAM solution to know where is the robot
## Links of reference
- http://www.plastibots.com/index.php/2010/11/13/pulito-featuring-dflex/
- [https://www.doc.ic.ac.uk/~nd/surprise_97/journal/vol4/jmd/](https://www.doc.ic.ac.uk/~nd/surprise_97/journal/vol4/jmd/)
- [http://philohome.com/pf/LEGO_Power_Functions_RC_v120.pdf](http://philohome.com/pf/LEGO_Power_Functions_RC_v120.pdf)
- https://www.youtube.com/watch?v=Ch4NUazpjJ8
- https://github.com/googlecartographer/cartographer_ros
- https://github.com/gloomyandy/surveyor
- https://lejosnews.wordpress.com/2017/07/15/slam/