Dead robot 10 minute charging timer

We need to charge the dead robot for 10 minutes, manually remove it, turn it on and localize because of the following problems:

• Dead robot left charging while turned-off does not have its state of charge updated, so battery management gets screwed-up.

• If you turn robot on in dock, robot wakes, does not know it’s in a dock, and needs to localize.

• Bug, fixed last year, robot turned on in-dock did not charge properly.

• Note: Current process requires manual intervention and also creates a time-variable state-of-charge error

Instead, I propose we fix the kludge. This will be required for R2, but can be implemented for R1.5 with mostly-common code changes.

• Put dead robot in dock and start recovery, then turn robot on (R2 robot will turn-on automatically, new hardware feature)

• Robot sees if it can communicate with a dock during startup. If so, don’t move (this change is in place now?)

• Robot becomes localized by getting dock ID over dock comms link. Requires dock id programmed into dock during manufacturing, various ways to do this.

• Note: No need to pull out of dock and restart. Done.