Parking C.S.
==========================

Carrying out automatic parking to the charging station

--------------------------------------------------------------------------

**Move to the front of the charging station**

.. thumbnail:: /_images/start_gui/parking.png

.. thumbnail:: /_images/start_gui/parking2.png

- The message "Send goal for parking charging station" appears in the Message box.

- Display start phrase in robot status

---------------------------------------------------------------------------------------

.. thumbnail:: /_images/start_gui/parking3.jpg    

- Go to the charging station location

--------------------------------------------------------------------------------------

.. thumbnail:: /_images/start_gui/parking4.png

- When you arrive at the charging station, a message is displayed on the terminal.

--------------------------------------------------------------------------

**Dock to the charging station and start charging**

.. thumbnail:: /_images/start_gui/parking7.png

- When docking is completed and charging starts, the charge LED turns green.

-------------------------------------------------------------------------------

.. list-table::

    * - .. thumbnail:: /_images/start_gui/parking5.png
            :group: basic1
      - .. thumbnail:: /_images/start_gui/parking6.png
            :group: basic1

- The robot mode is changed to charging, and you can check the battery status.

-------------------------------------------------------------------------------

**Charging cancel**

.. thumbnail:: /_images/start_gui/parking8.png

.. thumbnail:: /_images/start_gui/parking9.png

- The charge LED turns off, and the message "Cancel parking charge station" is displayed in the message box.

------------------------------------------------------------------------------------

.. list-table::

    * - .. thumbnail:: /_images/start_gui/purple.jpg
            :group: basic1
      - .. thumbnail:: /_images/start_gui/green.jpg
            :group: basic1

- When a charging command is received, the LED changes to purple and moves in front of the station.
- When docking is complete, the color of the led changes according to the robot's current battery level.
- Full Bat State : Green
- Middle Bat State : Yellow Blink
- Low Bat State : Red Blink