projects/microb2010/cobboard/state.c

   1 /*
   2  *  Copyright Droids Corporation (2009)
   3  *
   4  *  This program is free software; you can redistribute it and/or modify
   5  *  it under the terms of the GNU General Public License as published by
   6  *  the Free Software Foundation; either version 2 of the License, or
   7  *  (at your option) any later version.
   8  *
   9  *  This program is distributed in the hope that it will be useful,
  10  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  *  GNU General Public License for more details.
  13  *
  14  *  You should have received a copy of the GNU General Public License
  15  *  along with this program; if not, write to the Free Software
  16  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  17  *
  18  *  Revision : $Id: state.c,v 1.5 2009-11-08 17:25:00 zer0 Exp $
  19  *
  20  */
  21
  22 #include <math.h>
  23 #include <string.h>
  24
  25 #include <aversive.h>
  26 #include <aversive/wait.h>
  27 #include <aversive/error.h>
  28
  29 #include <ax12.h>
  30 #include <uart.h>
  31 #include <spi.h>
  32 #include <encoders_spi.h>
  33 #include <pwm_ng.h>
  34 #include <timer.h>
  35 #include <scheduler.h>
  36 #include <clock_time.h>
  37
  38 #include <pid.h>
  39 #include <quadramp.h>
  40 #include <control_system_manager.h>
  41 #include <blocking_detection_manager.h>
  42
  43 #include <rdline.h>
  44 #include <vt100.h>
  45
  46 #include "../common/i2c_commands.h"
  47 #include "main.h"
  48 #include "cmdline.h"
  49 #include "sensor.h"
  50 #include "actuator.h"
  51 #include "spickle.h"
  52 #include "shovel.h"
  53 #include "state.h"
  54
  55 #define STMCH_DEBUG(args...) DEBUG(E_USER_ST_MACH, args)
  56 #define STMCH_NOTICE(args...) NOTICE(E_USER_ST_MACH, args)
  57 #define STMCH_ERROR(args...) ERROR(E_USER_ST_MACH, args)
  58
  59 static struct vt100 local_vt100;
  60 static volatile uint8_t state_mode, lspickle, rspickle;
  61 static volatile uint8_t state_status;
  62 static volatile uint8_t state_i2c_ignore = 0;
  63 static uint8_t cob_count;
  64
  65 /* short aliases */
  66 #define INIT(mode)       ((mode) == I2C_COBBOARD_MODE_INIT)
  67 #define HARVEST(mode)    ((mode) == I2C_COBBOARD_MODE_HARVEST)
  68 #define EJECT(mode)      ((mode) == I2C_COBBOARD_MODE_EJECT)
  69
  70 uint8_t state_debug = 0;
  71
  72 uint8_t state_get_cob_count(void)
  73 {
  74         return cob_count;
  75 }
  76
  77 static void state_debug_wait_key_pressed(void)
  78 {
  79         if (!state_debug)
  80                 return;
  81         printf_P(PSTR("press a key\r\n"));
  82         while(!cmdline_keypressed());
  83 }
  84
  85 /* return true if the cob is correctly inside */
  86 static uint8_t state_cob_inside(void)
  87 {
  88         return sensor_get(S_COB_INSIDE_L) &&
  89                 sensor_get(S_COB_INSIDE_R);
  90 }
  91
  92 /* return true if there is no cob correctly inside */
  93 static uint8_t state_no_cob_inside(void)
  94 {
  95         return !sensor_get(S_COB_INSIDE_L) &&
  96                 !sensor_get(S_COB_INSIDE_R);
  97 }
  98
  99 static uint8_t state_spicklemode_deployed(uint8_t side)
 100 {
 101         if (side == I2C_LEFT_SIDE)
 102                 return lspickle & I2C_COBBOARD_SPK_DEPLOY;
 103         else
 104                 return rspickle & I2C_COBBOARD_SPK_DEPLOY;
 105 }
 106
 107 static uint8_t state_spicklemode_autoharvest(uint8_t side)
 108 {
 109         if (side == I2C_LEFT_SIDE)
 110                 return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 111         else
 112                 return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 113 }
 114
 115 static uint8_t state_spicklemode_nomove(uint8_t side)
 116 {
 117         if (side == I2C_LEFT_SIDE)
 118                 return lspickle & I2C_COBBOARD_SPK_NO_MOVE;
 119         else
 120                 return rspickle & I2C_COBBOARD_SPK_NO_MOVE;
 121 }
 122
 123 uint8_t state_spicklemode_weak(uint8_t side)
 124 {
 125         if (side == I2C_LEFT_SIDE)
 126                 return lspickle & I2C_COBBOARD_SPK_WEAK;
 127         else
 128                 return rspickle & I2C_COBBOARD_SPK_WEAK;
 129 }
 130
 131 /* pack/deploy spickles depending on mode */
 132 static void spickle_prepare(uint8_t side)
 133 {
 134         /* we do nothing in mode no out */
 135         if (state_spicklemode_nomove(side))
 136                 return;
 137
 138         if (state_spicklemode_deployed(side))
 139                 spickle_deploy(side);
 140         else
 141                 spickle_pack(side);
 142 }
 143
 144 void state_set_spickle(uint8_t side, uint8_t flags)
 145 {
 146         if (side == I2C_LEFT_SIDE) {
 147                 /* the PACK command preempts the current action if the
 148                  * arm is not busy */
 149                 if (lspickle != 0 && flags == 0 &&
 150                     state_status != I2C_COBBOARD_STATUS_LBUSY)
 151                         spickle_prepare(I2C_LEFT_SIDE);
 152                 lspickle = flags;
 153         }
 154         else {
 155                 /* the PACK command preempts the current action if the
 156                  * arm is not busy */
 157                 if (rspickle != 0 && flags == 0 &&
 158                     state_status != I2C_COBBOARD_STATUS_RBUSY)
 159                         spickle_prepare(I2C_RIGHT_SIDE);
 160                 rspickle = flags;
 161         }
 162 }
 163
 164 /* set a new state, return 0 on success */
 165 int8_t state_set_mode(uint8_t mode)
 166 {
 167         state_mode = mode;
 168         STMCH_DEBUG("%s(): mode=%x", __FUNCTION__, mode);
 169         return 0;
 170 }
 171
 172 void state_set_i2c_ignore(uint8_t val)
 173 {
 174         state_i2c_ignore = val;
 175 }
 176
 177 uint8_t state_get_i2c_ignore(void)
 178 {
 179         return state_i2c_ignore;
 180 }
 181
 182 /* check that state is the one in parameter and that state did not
 183  * changed */
 184 static uint8_t state_want_exit(void)
 185 {
 186         int16_t c;
 187
 188         /* force quit when CTRL-C is typed */
 189         c = cmdline_getchar();
 190         if (c == -1)
 191                 return 0;
 192         if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
 193                 return 1;
 194         printf_P(PSTR("CTRL-C\r\n"));
 195         return 0;
 196 }
 197
 198 uint8_t state_get_mode(void)
 199 {
 200         return state_mode;
 201 }
 202
 203 uint8_t state_get_status(void)
 204 {
 205         return state_status;
 206 }
 207
 208 /* harvest cobs from area */
 209 static void state_do_harvest(uint8_t side)
 210 {
 211         /* if there is no cob, return */
 212         if (cob_falling_edge(side) == 0)
 213                 return;
 214
 215         if (side == I2C_LEFT_SIDE)
 216                 state_status = I2C_COBBOARD_STATUS_LBUSY;
 217         else
 218                 state_status = I2C_COBBOARD_STATUS_RBUSY;
 219
 220         STMCH_DEBUG("start");
 221
 222         /* eat the cob */
 223         spickle_pack(side);
 224
 225         time_wait_ms(200);
 226         cobroller_on(side);
 227
 228         /* check that cob is correctly in place */
 229         if (WAIT_COND_OR_TIMEOUT(state_cob_inside(), 750) == 0) {
 230                 if (state_no_cob_inside()) {
 231                         STMCH_DEBUG("no cob");
 232                         return;
 233                 }
 234                 STMCH_DEBUG("bad cob state");
 235
 236                 /* while cob is not correctly placed try to extract
 237                  * it as much as we can */
 238                 while (state_cob_inside() == 0 &&
 239                        state_no_cob_inside() == 0) {
 240                         uint8_t cpt = 0;
 241                         if (cpt == 0)
 242                                 cobroller_reverse(side);
 243                         else if (cpt == 1)
 244                                 cobroller_off(side);
 245                         else if (cpt == 2)
 246                                 cobroller_on(side);
 247                         cpt ++;
 248                         cpt %= 3;
 249                         shovel_mid();
 250                         time_wait_ms(250);
 251                         shovel_down();
 252                         time_wait_ms(250);
 253                 }
 254
 255                 STMCH_DEBUG("cob removed");
 256                 if (state_no_cob_inside()) {
 257                         STMCH_DEBUG("no cob");
 258                         return;
 259                 }
 260         }
 261
 262         /* cob is inside, switch off roller */
 263         cobroller_off(side);
 264         cob_count ++;
 265
 266         state_debug_wait_key_pressed();
 267
 268         /* last cob, nothing to do */
 269         if (cob_count == 5)
 270                 return;
 271
 272         /* redeploy the spickle if there is a black cob */
 273         if (!state_spicklemode_nomove(side))
 274                 spickle_deploy(side);
 275         state_debug_wait_key_pressed();
 276
 277         /* let the loaded cobs go */
 278         servo_door_block();
 279         servo_carry_open();
 280         time_wait_ms(100);
 281         state_debug_wait_key_pressed();
 282
 283         /* store it */
 284         shovel_up();
 285
 286         while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
 287                 STMCH_DEBUG("shovel blocked");
 288                 shovel_down();
 289                 time_wait_ms(250);
 290                 shovel_up();
 291         }
 292
 293         state_debug_wait_key_pressed();
 294
 295         /* close the carry servos */
 296         servo_carry_close();
 297         servo_door_close();
 298         time_wait_ms(200);
 299         state_debug_wait_key_pressed();
 300
 301         shovel_down();
 302
 303         while (WAIT_COND_OR_TIMEOUT(shovel_is_down(), 400) == 0) {
 304                 STMCH_DEBUG("shovel blocked");
 305                 shovel_up();
 306                 time_wait_ms(250);
 307                 shovel_down();
 308         }
 309
 310         STMCH_DEBUG("end");
 311 }
 312
 313 /* eject cobs */
 314 static void state_do_eject(void)
 315 {
 316         state_status = I2C_COBBOARD_STATUS_EJECT;
 317         cob_count = 0;
 318         shovel_mid();
 319         servo_carry_open();
 320         servo_door_open();
 321         time_wait_ms(2000);
 322         shovel_down();
 323         servo_door_close();
 324         servo_carry_close();
 325 }
 326
 327 /* main state machine */
 328 void state_machine(void)
 329 {
 330         while (state_want_exit() == 0) {
 331
 332                 state_status = I2C_COBBOARD_STATUS_READY;
 333
 334                 /* init */
 335                 if (INIT(state_mode)) {
 336                         state_init();
 337                         state_mode = I2C_COBBOARD_MODE_HARVEST;
 338                 }
 339
 340                 /* pack/deply spickles, enable/disable roller */
 341                 cobroller_off(I2C_LEFT_SIDE);
 342                 cobroller_off(I2C_RIGHT_SIDE);
 343                 spickle_prepare(I2C_LEFT_SIDE);
 344                 spickle_prepare(I2C_RIGHT_SIDE);
 345
 346                 /* harvest */
 347                 if (cob_count < 5) {
 348                         if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
 349                             state_spicklemode_autoharvest(I2C_LEFT_SIDE))
 350                                 state_do_harvest(I2C_LEFT_SIDE);
 351                         if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
 352                             state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
 353                                 state_do_harvest(I2C_RIGHT_SIDE);
 354                 }
 355
 356                 /* eject */
 357                 if (EJECT(state_mode)) {
 358                         state_mode = I2C_COBBOARD_MODE_HARVEST;
 359                         state_do_eject();
 360                 }
 361         }
 362         state_status = I2C_COBBOARD_STATUS_OFF;
 363 }
 364
 365 void state_init(void)
 366 {
 367         vt100_init(&local_vt100);
 368         shovel_down();
 369         servo_door_close();
 370         servo_carry_close();
 371         spickle_pack(I2C_LEFT_SIDE);
 372         spickle_pack(I2C_RIGHT_SIDE);
 373         state_mode = 0;
 374         cob_count = 0;
 375         state_status = I2C_COBBOARD_STATUS_OFF;
 376 }