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 #define KICKSTAND_UP(mode)    ((mode) == I2C_COBBOARD_MODE_KICKSTAND_UP)
  70 #define KICKSTAND_DOWN(mode)  ((mode) == I2C_COBBOARD_MODE_KICKSTAND_DOWN)
  71
  72 uint8_t state_debug = 0;
  73
  74 uint8_t state_get_cob_count(void)
  75 {
  76         return cob_count;
  77 }
  78
  79 static void state_debug_wait_key_pressed(void)
  80 {
  81         if (!state_debug)
  82                 return;
  83         printf_P(PSTR("press a key\r\n"));
  84         while(!cmdline_keypressed());
  85 }
  86
  87 /* return true if the cob is correctly inside */
  88 static uint8_t state_cob_inside(void)
  89 {
  90         return sensor_get(S_COB_INSIDE_L) &&
  91                 sensor_get(S_COB_INSIDE_R);
  92 }
  93
  94 /* return true if there is no cob correctly inside */
  95 static uint8_t state_no_cob_inside(void)
  96 {
  97         return !sensor_get(S_COB_INSIDE_L) &&
  98                 !sensor_get(S_COB_INSIDE_R);
  99 }
 100
 101 static uint8_t state_spicklemode_deployed(uint8_t side)
 102 {
 103         if (side == I2C_LEFT_SIDE)
 104                 return lspickle & I2C_COBBOARD_SPK_DEPLOY;
 105         else
 106                 return rspickle & I2C_COBBOARD_SPK_DEPLOY;
 107 }
 108
 109 static uint8_t state_spicklemode_autoharvest(uint8_t side)
 110 {
 111         if (side == I2C_LEFT_SIDE)
 112                 return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 113         else
 114                 return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 115 }
 116
 117 static uint8_t state_spicklemode_nomove(uint8_t side)
 118 {
 119         if (side == I2C_LEFT_SIDE)
 120                 return lspickle & I2C_COBBOARD_SPK_NO_MOVE;
 121         else
 122                 return rspickle & I2C_COBBOARD_SPK_NO_MOVE;
 123 }
 124
 125 uint8_t state_spicklemode_weak(uint8_t side)
 126 {
 127         if (side == I2C_LEFT_SIDE)
 128                 return lspickle & I2C_COBBOARD_SPK_WEAK;
 129         else
 130                 return rspickle & I2C_COBBOARD_SPK_WEAK;
 131 }
 132
 133 /* pack/deploy spickles depending on mode */
 134 static void spickle_prepare(uint8_t side)
 135 {
 136         /* pack spickle if we are not in harvest mode */
 137         if (!HARVEST(state_mode))
 138                 spickle_pack(side);
 139
 140         /* we do nothing in mode no out */
 141         if (state_spicklemode_nomove(side))
 142                 return;
 143
 144         if (state_spicklemode_deployed(side))
 145                 spickle_deploy(side);
 146         else
 147                 spickle_pack(side);
 148 }
 149
 150 void state_set_spickle(uint8_t side, uint8_t flags)
 151 {
 152         if (side == I2C_LEFT_SIDE) {
 153                 /* the PACK command preempts the current action if the
 154                  * arm is not busy */
 155                 if (lspickle != 0 && flags == 0 &&
 156                     state_status != I2C_COBBOARD_STATUS_LBUSY)
 157                         spickle_prepare(I2C_LEFT_SIDE);
 158                 lspickle = flags;
 159         }
 160         else {
 161                 /* the PACK command preempts the current action if the
 162                  * arm is not busy */
 163                 if (rspickle != 0 && flags == 0 &&
 164                     state_status != I2C_COBBOARD_STATUS_RBUSY)
 165                         spickle_prepare(I2C_RIGHT_SIDE);
 166                 rspickle = flags;
 167         }
 168 }
 169
 170 /* set a new state, return 0 on success */
 171 int8_t state_set_mode(uint8_t mode)
 172 {
 173         state_mode = mode;
 174         STMCH_DEBUG("%s(): mode=%x", __FUNCTION__, mode);
 175         return 0;
 176 }
 177
 178 void state_set_i2c_ignore(uint8_t val)
 179 {
 180         state_i2c_ignore = val;
 181 }
 182
 183 uint8_t state_get_i2c_ignore(void)
 184 {
 185         return state_i2c_ignore;
 186 }
 187
 188 /* check that state is the one in parameter and that state did not
 189  * changed */
 190 static uint8_t state_want_exit(void)
 191 {
 192         int16_t c;
 193
 194         /* force quit when CTRL-C is typed */
 195         c = cmdline_getchar();
 196         if (c == -1)
 197                 return 0;
 198         if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
 199                 return 1;
 200         printf_P(PSTR("CTRL-C\r\n"));
 201         return 0;
 202 }
 203
 204 uint8_t state_get_mode(void)
 205 {
 206         return state_mode;
 207 }
 208
 209 uint8_t state_get_status(void)
 210 {
 211         return state_status;
 212 }
 213
 214 /* harvest cobs from area */
 215 static void state_do_harvest(uint8_t side)
 216 {
 217         /* if there is no cob, return */
 218         if (cob_falling_edge(side) == 0)
 219                 return;
 220
 221         if (side == I2C_LEFT_SIDE)
 222                 state_status = I2C_COBBOARD_STATUS_LBUSY;
 223         else
 224                 state_status = I2C_COBBOARD_STATUS_RBUSY;
 225
 226         STMCH_DEBUG("start");
 227
 228         /* eat the cob */
 229         spickle_pack(side);
 230
 231         time_wait_ms(200);
 232         cobroller_on(side);
 233
 234         /* check that cob is correctly in place */
 235         if (WAIT_COND_OR_TIMEOUT(state_cob_inside(), 750) == 0) {
 236                 if (state_no_cob_inside()) {
 237                         STMCH_DEBUG("no cob");
 238                         return;
 239                 }
 240                 STMCH_DEBUG("bad cob state");
 241
 242                 /* while cob is not correctly placed try to extract
 243                  * it as much as we can */
 244                 while (state_cob_inside() == 0 &&
 245                        state_no_cob_inside() == 0) {
 246                         uint8_t cpt = 0;
 247                         if (cpt == 0)
 248                                 cobroller_reverse(side);
 249                         else if (cpt == 1)
 250                                 cobroller_off(side);
 251                         else if (cpt == 2)
 252                                 cobroller_on(side);
 253                         cpt ++;
 254                         cpt %= 3;
 255                         shovel_mid();
 256                         time_wait_ms(250);
 257                         shovel_down();
 258                         time_wait_ms(250);
 259                 }
 260
 261                 STMCH_DEBUG("cob removed");
 262                 if (state_no_cob_inside()) {
 263                         STMCH_DEBUG("no cob");
 264                         return;
 265                 }
 266         }
 267
 268         /* cob is inside, switch off roller */
 269         cobroller_off(side);
 270         cob_count ++;
 271
 272         state_debug_wait_key_pressed();
 273
 274         /* last cob, nothing to do */
 275         if (cob_count == 5)
 276                 return;
 277
 278         /* redeploy the spickle if there is a black cob */
 279         if (!state_spicklemode_nomove(side))
 280                 spickle_deploy(side);
 281         state_debug_wait_key_pressed();
 282
 283         /* let the loaded cobs go */
 284         servo_door_block();
 285         servo_carry_open();
 286         time_wait_ms(100);
 287         state_debug_wait_key_pressed();
 288
 289         /* store it */
 290         shovel_up();
 291
 292         while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
 293                 STMCH_DEBUG("shovel blocked");
 294                 shovel_down();
 295                 time_wait_ms(250);
 296                 shovel_up();
 297                 /* if eject command is received, force exit */
 298                 if (EJECT(state_mode))
 299                         return;
 300         }
 301
 302         state_debug_wait_key_pressed();
 303
 304         /* close the carry servos */
 305         servo_carry_close();
 306         servo_door_close();
 307         time_wait_ms(200);
 308         state_debug_wait_key_pressed();
 309
 310         shovel_down();
 311
 312         while (WAIT_COND_OR_TIMEOUT(shovel_is_down(), 400) == 0) {
 313                 STMCH_DEBUG("shovel blocked");
 314                 shovel_up();
 315                 time_wait_ms(250);
 316                 shovel_down();
 317         }
 318
 319         STMCH_DEBUG("end");
 320 }
 321
 322 /* eject cobs */
 323 static void state_do_eject(void)
 324 {
 325         state_status = I2C_COBBOARD_STATUS_EJECT;
 326         cob_count = 0;
 327         shovel_mid();
 328         servo_carry_open();
 329         servo_door_open();
 330         time_wait_ms(2000);
 331         shovel_down();
 332         servo_door_close();
 333         servo_carry_close();
 334 }
 335
 336 /* main state machine */
 337 void state_machine(void)
 338 {
 339         while (state_want_exit() == 0) {
 340
 341                 state_status = I2C_COBBOARD_STATUS_READY;
 342
 343                 /* init */
 344                 if (INIT(state_mode)) {
 345                         state_init();
 346                         state_mode = I2C_COBBOARD_MODE_HARVEST;
 347                 }
 348
 349                 if (HARVEST(state_mode)) {
 350                         /* init for each loop */
 351                         shovel_down();
 352                         servo_carry_close();
 353                         servo_door_close();
 354
 355                         /* pack/deply spickles, enable/disable roller */
 356                         cobroller_off(I2C_LEFT_SIDE);
 357                         cobroller_off(I2C_RIGHT_SIDE);
 358                         spickle_prepare(I2C_LEFT_SIDE);
 359                         spickle_prepare(I2C_RIGHT_SIDE);
 360
 361                         /* harvest if not many cobs */
 362                         if (cob_count < 5) {
 363                                 if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
 364                                     state_spicklemode_autoharvest(I2C_LEFT_SIDE))
 365                                         state_do_harvest(I2C_LEFT_SIDE);
 366                                 if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
 367                                     state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
 368                                         state_do_harvest(I2C_RIGHT_SIDE);
 369                         }
 370                 }
 371
 372                 /* help to climb the hill */
 373                 if (KICKSTAND_UP(state_mode)) {
 374                         state_status = I2C_COBBOARD_STATUS_KICKSTAND_UP;
 375                         servo_carry_open();
 376                         servo_door_open();
 377                         shovel_kickstand_up();
 378                 }
 379
 380                 if (KICKSTAND_DOWN(state_mode)) {
 381                         state_status = I2C_COBBOARD_STATUS_KICKSTAND_DOWN;
 382                         servo_carry_open();
 383                         servo_door_open();
 384                         shovel_kickstand_down();
 385                 }
 386
 387                 /* eject */
 388                 if (EJECT(state_mode)) {
 389                         state_mode = I2C_COBBOARD_MODE_HARVEST;
 390                         state_do_eject();
 391                 }
 392         }
 393         state_status = I2C_COBBOARD_STATUS_OFF;
 394 }
 395
 396 void state_init(void)
 397 {
 398         vt100_init(&local_vt100);
 399         shovel_down();
 400         servo_door_close();
 401         servo_carry_close();
 402         spickle_pack(I2C_LEFT_SIDE);
 403         spickle_pack(I2C_RIGHT_SIDE);
 404         state_mode = 0;
 405         cob_count = 0;
 406         state_status = I2C_COBBOARD_STATUS_OFF;
 407 }