X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=9c6af8cfee3a964900c890d4fd3160276eae982a;hb=HEAD;hp=cbbc8293b5d28ffeb83d3afaf095711cd2799fab;hpb=ba4ad67d2bd3457a12615439a7e2f748cfb7bcde;p=aversive.git

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index cbbc829..9c6af8c 100644
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -66,8 +66,11 @@ static uint8_t cob_count;
 #define INIT(mode)       ((mode) == I2C_COBBOARD_MODE_INIT)
 #define HARVEST(mode)    ((mode) == I2C_COBBOARD_MODE_HARVEST)
 #define EJECT(mode)      ((mode) == I2C_COBBOARD_MODE_EJECT)
+#define KICKSTAND_UP(mode)    ((mode) == I2C_COBBOARD_MODE_KICKSTAND_UP)
+#define KICKSTAND_DOWN(mode)  ((mode) == I2C_COBBOARD_MODE_KICKSTAND_DOWN)
 
 uint8_t state_debug = 0;
+static uint8_t state_cob_partial = 0;
 
 uint8_t state_get_cob_count(void)
 {
@@ -96,6 +99,15 @@ static uint8_t state_no_cob_inside(void)
 		!sensor_get(S_COB_INSIDE_R);
 }
 
+static uint8_t state_cob_inside_enhanced(void)
+{
+	if (sensor_get(S_COB_INSIDE_L))
+		state_cob_partial = 1;
+	if (sensor_get(S_COB_INSIDE_R))
+		state_cob_partial = 1;
+	return state_cob_inside();
+}
+
 static uint8_t state_spicklemode_deployed(uint8_t side)
 {
 	if (side == I2C_LEFT_SIDE)
@@ -120,9 +132,21 @@ static uint8_t state_spicklemode_nomove(uint8_t side)
 		return rspickle & I2C_COBBOARD_SPK_NO_MOVE;
 }
 
+uint8_t state_spicklemode_weak(uint8_t side)
+{
+	if (side == I2C_LEFT_SIDE)
+		return lspickle & I2C_COBBOARD_SPK_WEAK;
+	else
+		return rspickle & I2C_COBBOARD_SPK_WEAK;
+}
+
 /* pack/deploy spickles depending on mode */
 static void spickle_prepare(uint8_t side)
 {
+	/* pack spickle if we are not in harvest mode */
+	if (!HARVEST(state_mode))
+		spickle_pack(side);
+
 	/* we do nothing in mode no out */
 	if (state_spicklemode_nomove(side))
 		return;
@@ -200,6 +224,8 @@ uint8_t state_get_status(void)
 /* harvest cobs from area */
 static void state_do_harvest(uint8_t side)
 {
+	uint8_t i = 0;
+
 	/* if there is no cob, return */
 	if (cob_falling_edge(side) == 0)
 		return;
@@ -218,11 +244,15 @@ static void state_do_harvest(uint8_t side)
 	cobroller_on(side);
 
 	/* check that cob is correctly in place */
-	if (WAIT_COND_OR_TIMEOUT(state_cob_inside(), 750) == 0) {
-		if (state_no_cob_inside()) {
+	state_cob_partial = 0;
+	if (WAIT_COND_OR_TIMEOUT(state_cob_inside_enhanced(), 750) == 0) {
+		if (state_no_cob_inside() && state_cob_partial == 0) {
 			STMCH_DEBUG("no cob");
 			return;
 		}
+		else if (state_no_cob_inside() && state_cob_partial == 1)
+			goto cont;
+
 		STMCH_DEBUG("bad cob state");
 
 		/* while cob is not correctly placed try to extract
@@ -242,6 +272,9 @@ static void state_do_harvest(uint8_t side)
 			time_wait_ms(250);
 			shovel_down();
 			time_wait_ms(250);
+
+			if (EJECT(state_mode))
+				return;
 		}
 
 		STMCH_DEBUG("cob removed");
@@ -251,6 +284,7 @@ static void state_do_harvest(uint8_t side)
 		}
 	}
 
+ cont:
 	/* cob is inside, switch off roller */
 	cobroller_off(side);
 	cob_count ++;
@@ -275,11 +309,40 @@ static void state_do_harvest(uint8_t side)
 	/* store it */
 	shovel_up();
 
+	i = 0;
 	while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
 		STMCH_DEBUG("shovel blocked");
 		shovel_down();
+
+		if (i == 4)
+			break;
+
+		/* if eject command is received, force exit */
+		if (EJECT(state_mode))
+			return;
+
 		time_wait_ms(250);
 		shovel_up();
+		i ++;
+	}
+
+	/* bad state, try to eject to cobs */
+	if (i == 4) {
+		servo_door_open();
+		shovel_mid();
+
+		while (WAIT_COND_OR_TIMEOUT(shovel_is_mid(), 600) == 0) {
+			STMCH_DEBUG("ejecting cobs");
+
+			shovel_down();
+			time_wait_ms(250);
+			if (state_no_cob_inside()) {
+				servo_door_close();
+				cob_count = 0;
+				return;
+			}
+			shovel_mid();
+		}
 	}
 
 	state_debug_wait_key_pressed();
@@ -329,20 +392,42 @@ void state_machine(void)
 			state_mode = I2C_COBBOARD_MODE_HARVEST;
 		}
 
-		/* pack/deply spickles, enable/disable roller */
-		cobroller_off(I2C_LEFT_SIDE);
-		cobroller_off(I2C_RIGHT_SIDE);
-		spickle_prepare(I2C_LEFT_SIDE);
-		spickle_prepare(I2C_RIGHT_SIDE);
-
-		/* harvest */
-		if (cob_count < 5) {
-			if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
-			    state_spicklemode_autoharvest(I2C_LEFT_SIDE))
-				state_do_harvest(I2C_LEFT_SIDE);
-			if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
-			    state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
-				state_do_harvest(I2C_RIGHT_SIDE);
+		if (HARVEST(state_mode)) {
+			/* init for each loop */
+			shovel_down();
+			servo_carry_close();
+			servo_door_close();
+
+			/* pack/deply spickles, enable/disable roller */
+			cobroller_off(I2C_LEFT_SIDE);
+			cobroller_off(I2C_RIGHT_SIDE);
+			spickle_prepare(I2C_LEFT_SIDE);
+			spickle_prepare(I2C_RIGHT_SIDE);
+
+			/* harvest if not many cobs */
+			if (cob_count < 5) {
+				if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
+				    state_spicklemode_autoharvest(I2C_LEFT_SIDE))
+					state_do_harvest(I2C_LEFT_SIDE);
+				if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
+				    state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
+					state_do_harvest(I2C_RIGHT_SIDE);
+			}
+		}
+
+		/* help to climb the hill */
+		if (KICKSTAND_UP(state_mode)) {
+			state_status = I2C_COBBOARD_STATUS_KICKSTAND_UP;
+			servo_carry_open();
+			servo_door_open();
+			shovel_kickstand_up();
+		}
+
+		if (KICKSTAND_DOWN(state_mode)) {
+			state_status = I2C_COBBOARD_STATUS_KICKSTAND_DOWN;
+			servo_carry_open();
+			servo_door_open();
+			shovel_kickstand_down();
 		}
 
 		/* eject */