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- 调用goHome()接口来进行自动回充,如果没有找到充电桩或者充电失败,可以考虑重复调用此接口尝试再次对
Info 一般来说,只有重复三次调用goHome()后对接仍然失败时,才可判定此次充电对接失败。在三次尝试调用过程中,任何一次完成了对接,仍可判定充电对接成功。
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/* 与底盘连接 */
final AbstractSlamwarePlatform robotPlatform = DeviceManager.connect("10.0.130.71", 1445);
try {
int goHomeCount = 0;
do {
action = robotPlatform.goHome();
action.waitUntilDone();
if (action.getStatus() == FINISHED)
break;
Log.d(TAG, "go home to charge times count: " + goHomeCount);
goHomeCount++;
} while (goHomeCount <= maxGoHomeTimes);
} catch (ConnectionTimeOutException e) {
/* Exception Handle code*/
....
} |
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