reduce bumper sensitivity

sunray/config_example.h

@@ -243,6 +243,7 @@ Also, you may choose the serial port below for serial monitor output (CONSOLE).
 // #define BUMPER_ENABLE true
 #define BUMPER_ENABLE false
 #define BUMPER_DEADTIME 1000  // linear motion dead-time (ms) after bumper is allowed to trigger
+#define BUMPER_TRIGGER_DELAY  2000 // bumper must be active for (ms) to trigger
 
 
 // ----- battery charging current measurement (INA169) --------------
@@ -514,4 +515,3 @@ Also, you may choose the serial port below for serial monitor output (CONSOLE).
 // 2. Locate file 'packages/arduino/hardware/sam/xxxxx/cores/arduino/RingBuffer.h
 
 #define SERIAL_BUFFER_SIZE 1024
-

sunray/robot.cpp

@@ -59,7 +59,7 @@ MPU9250_DMP imu;
   AmRobotDriver robotDriver;
   AmMotorDriver motorDriver;
   AmBatteryDriver batteryDriver;
-  AmBumperDriver bumper;
+  AmBumperDriver bumper(BUMPER_TRIGGER_DELAY);
   AmStopButtonDriver stopButton;
   AmRainSensorDriver rainDriver;
 #endif

sunray/src/driver/AmRobotDriver.cpp

@@ -14,8 +14,8 @@ volatile int odomTicksLeft  = 0;
 volatile int odomTicksRight = 0;
 
 
-volatile bool leftPressed = false;
-volatile bool rightPressed = false;
+volatile uint32_t leftTriggeredSince = 0;
+volatile uint32_t rightTriggeredSince = 0;
 
 
 bool faultActive  = LOW; 
@@ -281,11 +281,11 @@ void AmBatteryDriver::keepPowerOn(bool flag){
 
 // ------------------------------------------------------------------------------------
 void BumperLeftInterruptRoutine(){
-  leftPressed = (digitalRead(pinBumperLeft) == LOW);  
+  leftTriggeredSince = digitalRead(pinBumperLeft) == LOW ? millis() : 0;
 }
 
 void BumperRightInterruptRoutine(){
-  rightPressed = (digitalRead(pinBumperRight) == LOW);  
+  rightTriggeredSince = digitalRead(pinBumperRight) == LOW ? millis() : 0;
 }
 
 
@@ -297,14 +297,18 @@ void AmBumperDriver::begin(){
 }
 
 void AmBumperDriver::getTriggeredBumper(bool &leftBumper, bool &rightBumper){
-  leftBumper = leftPressed;
-  rightBumper = rightPressed;
+  const uint32_t now = millis();
+  leftBumper = leftTriggeredSince != 0 && (now - leftTriggeredSince) > triggerTime;
+  rightBumper = rightTriggeredSince != 0 && (now - rightTriggeredSince) > triggerTime;
 }
 
 bool AmBumperDriver::obstacle(){
-  return (leftPressed || rightPressed);
+  bool left, right;
+  getTriggeredBumper(left, right);
+
+  return left || right;
 }
-    
+
 
 void AmBumperDriver::run(){  
 }

sunray/src/driver/AmRobotDriver.h

@@ -56,13 +56,16 @@ class AmBatteryDriver : public BatteryDriver {
 };
 
 class AmBumperDriver: public BumperDriver {
-  public:    
+  private:
+    uint32_t triggerTime;
+  public:
+    AmBumperDriver(uint32_t _triggerTime) : triggerTime(_triggerTime) {}
     void begin() override;
     void run() override;
     bool obstacle() override;
 
     // get triggered bumper
-    void getTriggeredBumper(bool &leftBumper, bool &rightBumper) override;  	  		    
+    void getTriggeredBumper(bool &leftBumper, bool &rightBumper) override;
 };