1)
Since there is some offset* issue with battery voltage, added functionality to read battery voltage through an INA226 (most batteries have a spare connection anyway to easily connect a sensor to).
I've tried to just use the already existing i2c functions.
*on my robot the 3.3 voltage is just floating weirdly throwing off battery voltage measurements.
In other forum posts some people play with varying offset values in the code.
2) added an extra parameter for the speed when approaching the docking station
1) Since there is some offset* issue with battery voltage, added functionality to read battery voltage through an INA226 (most batteries have a spare connection anyway to easily connect a sensor to). I've tried to just use the already existing i2c functions.
*on my robot the 3.3 voltage is just floating weirdly throwing off battery voltage measurements. In other forum posts some people play with varying offset values in the code.
2) added an extra parameter for the speed when approaching the docking station