applications for docking and charging at a charging dock
Implement applications to dock at a charging station and to handle charging logic.
The docking application should make an AMiRo, which is already close to a charging dock, to approach the dock align its charging pins to the connectors of the station and dock.
In order to check whether docking was successful, the motors should be turned off completely, so that the charging pins would push the robot away from the charging dock. If docked correctly, however, the rear screw of AMiRo is held by the magnet of the charging dock and the robot will not move.
Only then the voltage on the pins must be verified before it is applies to the internal system power. As soon as that has happened, the PowerManagement module would detect the high system voltage via its ADC and enable the chargers.
However, as soon as movement is detected and to robot might loose contact to the charging dock, the pins must be switched off immediately.