From 7bd5f48f271e015f4e9a379e0f1cc332d22a80e1 Mon Sep 17 00:00:00 2001
From: Ola Palm <ola.palm@me.com>
Date: Sun, 25 Jun 2017 11:17:43 +0200
Subject: [PATCH] Fix for single coil setup for mower.

---
 Liam/BWFSensor.cpp  |  2 +-
 Liam/Battery.cpp    |  4 ++--
 Liam/Battery.h      |  8 ++++----
 Liam/Controller.cpp | 20 +++++++++-----------
 Liam/Definition.h   |  4 ++--
 Liam/Liam.ino       |  2 +-
 6 files changed, 19 insertions(+), 21 deletions(-)

diff --git a/Liam/BWFSensor.cpp b/Liam/BWFSensor.cpp
index 88ad801..e6269f0 100644
--- a/Liam/BWFSensor.cpp
+++ b/Liam/BWFSensor.cpp
@@ -42,7 +42,7 @@ void BWFSENSOR::clearSignal() {
 
 
 bool BWFSENSOR::isInside() {
-	return (signal_status == INSIDE);
+  return (signal_status == INSIDE);
 }
 
 bool BWFSENSOR::isOutside() {
diff --git a/Liam/Battery.cpp b/Liam/Battery.cpp
index 3dd628c..d13f851 100644
--- a/Liam/Battery.cpp
+++ b/Liam/Battery.cpp
@@ -89,8 +89,8 @@ word BATTERY::readBatteryAndCalcValue(){
     unsigned long newReading = analogRead(batSocpin);	
     newReading = newReading * 488  * VOLTDIVATOR;
     newReading /= 10000;
-    return newReading;
-  	//return word(newReading);  
+    //return newReading;
+  	return word(newReading);  
 }
 
 bool BATTERY::isBeingCharged() {
diff --git a/Liam/Battery.h b/Liam/Battery.h
index 7ae4328..5fe8800 100644
--- a/Liam/Battery.h
+++ b/Liam/Battery.h
@@ -26,10 +26,10 @@ Placed under the GNU license
 #define LIION    			 2
 
 //All voltage value need to be x100 to avoid decimals (12.54V = 1254)
-#define LIIONFULL			1300	
-#define LIIONEMPTY			1040
-#define NIMHFULL			1450
-#define NIMHEMPTY			1150
+#define LIIONFULL			  1256	
+#define LIIONEMPTY		  1040
+#define NIMHFULL			  1450
+#define NIMHEMPTY			  1150
 #define LEADACIDFULL		1330
 #define LEADACIDEMPTY		1200
 
diff --git a/Liam/Controller.cpp b/Liam/Controller.cpp
index e6ceadb..e06a299 100644
--- a/Liam/Controller.cpp
+++ b/Liam/Controller.cpp
@@ -65,9 +65,15 @@ int CONTROLLER::turnToReleaseRight(int angle) {
     sensor->select(0);
 
     if (sensor->isInside()) {
-      sensor->select(1);
-      if (sensor->isInside())
-        return 0;				// OK
+      // Only check sensor one if more than 1 sensor defined.
+      if(NUMBER_OF_SENSORS>1)
+      {
+        sensor->select(1);
+          if (sensor->isInside())
+            return 0;				// OK
+      }
+      else
+        return 0; // OK
     }
 
     if (wheelsAreOverloaded())
@@ -292,18 +298,10 @@ boolean CONTROLLER::hasBumped() {
 }
 
 boolean CONTROLLER::hasTilted() {
-  Serial.println("");
-  Serial.println("NU är tiltvärdet :");
-  Serial.println(compass->getTiltAngle(), DEC);
-  Serial.println(compass->getTiltAngle() > TILTANGLE);
   return (compass->getTiltAngle() > TILTANGLE);
 }
 
 boolean CONTROLLER::hasFlipped() {
-  Serial.println("");
-  Serial.println("NU är Flippvärdet :");
-  Serial.println(compass->getTiltAngle(), DEC);
-  Serial.println(compass->getTiltAngle() > FLIPANGLE);
   return (compass->getTiltAngle() > FLIPANGLE);
 }
 
diff --git a/Liam/Definition.h b/Liam/Definition.h
index dce24b2..0307178 100644
--- a/Liam/Definition.h
+++ b/Liam/Definition.h
@@ -65,10 +65,10 @@ const int MY_CUTTERMOTOR = 1;
 const int MY_BATTERY = 2;
 
 /* Number of BWF sensors can be 1-4 depending on shield */
-const int NUMBER_OF_SENSORS = 2;
+const int NUMBER_OF_SENSORS = 1;
 
 /* BWF transmitter signals */
-#define INSIDE_BWF 85
+#define INSIDE_BWF 86
 #define OUTSIDE_BWF 5
 
 /* If you have a bumper connected to pin8, set it to true. Remember to cut the brake connection on your motor shield */
diff --git a/Liam/Liam.ino b/Liam/Liam.ino
index 3b1df96..bd5a0e7 100644
--- a/Liam/Liam.ino
+++ b/Liam/Liam.ino
@@ -269,7 +269,7 @@ void loop() {
           state = DOCKING;
           break;
         }
-
+        
         // Tries to turn, but if timeout then reverse and try again
         if ((err = Mower.turnToReleaseRight(30) > 0)) {
           Mower.runBackward(FULLSPEED);