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 static uint8_t state_cob_partial = 0;
  74
  75 uint8_t state_get_cob_count(void)
  76 {
  77         return cob_count;
  78 }
  79
  80 static void state_debug_wait_key_pressed(void)
  81 {
  82         if (!state_debug)
  83                 return;
  84         printf_P(PSTR("press a key\r\n"));
  85         while(!cmdline_keypressed());
  86 }
  87
  88 /* return true if the cob is correctly inside */
  89 static uint8_t state_cob_inside(void)
  90 {
  91         return sensor_get(S_COB_INSIDE_L) &&
  92                 sensor_get(S_COB_INSIDE_R);
  93 }
  94
  95 /* return true if there is no cob correctly inside */
  96 static uint8_t state_no_cob_inside(void)
  97 {
  98         return !sensor_get(S_COB_INSIDE_L) &&
  99                 !sensor_get(S_COB_INSIDE_R);
 100 }
 101
 102 static uint8_t state_cob_inside_enhanced(void)
 103 {
 104         if (sensor_get(S_COB_INSIDE_L))
 105                 state_cob_partial = 1;
 106         if (sensor_get(S_COB_INSIDE_R))
 107                 state_cob_partial = 1;
 108         return state_cob_inside();
 109 }
 110
 111 static uint8_t state_spicklemode_deployed(uint8_t side)
 112 {
 113         if (side == I2C_LEFT_SIDE)
 114                 return lspickle & I2C_COBBOARD_SPK_DEPLOY;
 115         else
 116                 return rspickle & I2C_COBBOARD_SPK_DEPLOY;
 117 }
 118
 119 static uint8_t state_spicklemode_autoharvest(uint8_t side)
 120 {
 121         if (side == I2C_LEFT_SIDE)
 122                 return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 123         else
 124                 return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 125 }
 126
 127 static uint8_t state_spicklemode_nomove(uint8_t side)
 128 {
 129         if (side == I2C_LEFT_SIDE)
 130                 return lspickle & I2C_COBBOARD_SPK_NO_MOVE;
 131         else
 132                 return rspickle & I2C_COBBOARD_SPK_NO_MOVE;
 133 }
 134
 135 uint8_t state_spicklemode_weak(uint8_t side)
 136 {
 137         if (side == I2C_LEFT_SIDE)
 138                 return lspickle & I2C_COBBOARD_SPK_WEAK;
 139         else
 140                 return rspickle & I2C_COBBOARD_SPK_WEAK;
 141 }
 142
 143 /* pack/deploy spickles depending on mode */
 144 static void spickle_prepare(uint8_t side)
 145 {
 146         /* pack spickle if we are not in harvest mode */
 147         if (!HARVEST(state_mode))
 148                 spickle_pack(side);
 149
 150         /* we do nothing in mode no out */
 151         if (state_spicklemode_nomove(side))
 152                 return;
 153
 154         if (state_spicklemode_deployed(side))
 155                 spickle_deploy(side);
 156         else
 157                 spickle_pack(side);
 158 }
 159
 160 void state_set_spickle(uint8_t side, uint8_t flags)
 161 {
 162         if (side == I2C_LEFT_SIDE) {
 163                 /* the PACK command preempts the current action if the
 164                  * arm is not busy */
 165                 if (lspickle != 0 && flags == 0 &&
 166                     state_status != I2C_COBBOARD_STATUS_LBUSY)
 167                         spickle_prepare(I2C_LEFT_SIDE);
 168                 lspickle = flags;
 169         }
 170         else {
 171                 /* the PACK command preempts the current action if the
 172                  * arm is not busy */
 173                 if (rspickle != 0 && flags == 0 &&
 174                     state_status != I2C_COBBOARD_STATUS_RBUSY)
 175                         spickle_prepare(I2C_RIGHT_SIDE);
 176                 rspickle = flags;
 177         }
 178 }
 179
 180 /* set a new state, return 0 on success */
 181 int8_t state_set_mode(uint8_t mode)
 182 {
 183         state_mode = mode;
 184         STMCH_DEBUG("%s(): mode=%x", __FUNCTION__, mode);
 185         return 0;
 186 }
 187
 188 void state_set_i2c_ignore(uint8_t val)
 189 {
 190         state_i2c_ignore = val;
 191 }
 192
 193 uint8_t state_get_i2c_ignore(void)
 194 {
 195         return state_i2c_ignore;
 196 }
 197
 198 /* check that state is the one in parameter and that state did not
 199  * changed */
 200 static uint8_t state_want_exit(void)
 201 {
 202         int16_t c;
 203
 204         /* force quit when CTRL-C is typed */
 205         c = cmdline_getchar();
 206         if (c == -1)
 207                 return 0;
 208         if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
 209                 return 1;
 210         printf_P(PSTR("CTRL-C\r\n"));
 211         return 0;
 212 }
 213
 214 uint8_t state_get_mode(void)
 215 {
 216         return state_mode;
 217 }
 218
 219 uint8_t state_get_status(void)
 220 {
 221         return state_status;
 222 }
 223
 224 /* harvest cobs from area */
 225 static void state_do_harvest(uint8_t side)
 226 {
 227         uint8_t i = 0;
 228
 229         /* if there is no cob, return */
 230         if (cob_falling_edge(side) == 0)
 231                 return;
 232
 233         if (side == I2C_LEFT_SIDE)
 234                 state_status = I2C_COBBOARD_STATUS_LBUSY;
 235         else
 236                 state_status = I2C_COBBOARD_STATUS_RBUSY;
 237
 238         STMCH_DEBUG("start");
 239
 240         /* eat the cob */
 241         spickle_pack(side);
 242
 243         time_wait_ms(200);
 244         cobroller_on(side);
 245
 246         /* check that cob is correctly in place */
 247         state_cob_partial = 0;
 248         if (WAIT_COND_OR_TIMEOUT(state_cob_inside_enhanced(), 750) == 0) {
 249                 if (state_no_cob_inside() && state_cob_partial == 0) {
 250                         STMCH_DEBUG("no cob");
 251                         return;
 252                 }
 253                 else if (state_no_cob_inside() && state_cob_partial == 1)
 254                         goto cont;
 255
 256                 STMCH_DEBUG("bad cob state");
 257
 258                 /* while cob is not correctly placed try to extract
 259                  * it as much as we can */
 260                 while (state_cob_inside() == 0 &&
 261                        state_no_cob_inside() == 0) {
 262                         uint8_t cpt = 0;
 263                         if (cpt == 0)
 264                                 cobroller_reverse(side);
 265                         else if (cpt == 1)
 266                                 cobroller_off(side);
 267                         else if (cpt == 2)
 268                                 cobroller_on(side);
 269                         cpt ++;
 270                         cpt %= 3;
 271                         shovel_mid();
 272                         time_wait_ms(250);
 273                         shovel_down();
 274                         time_wait_ms(250);
 275
 276                         if (EJECT(state_mode))
 277                                 return;
 278                 }
 279
 280                 STMCH_DEBUG("cob removed");
 281                 if (state_no_cob_inside()) {
 282                         STMCH_DEBUG("no cob");
 283                         return;
 284                 }
 285         }
 286
 287  cont:
 288         /* cob is inside, switch off roller */
 289         cobroller_off(side);
 290         cob_count ++;
 291
 292         state_debug_wait_key_pressed();
 293
 294         /* last cob, nothing to do */
 295         if (cob_count == 5)
 296                 return;
 297
 298         /* redeploy the spickle if there is a black cob */
 299         if (!state_spicklemode_nomove(side))
 300                 spickle_deploy(side);
 301         state_debug_wait_key_pressed();
 302
 303         /* let the loaded cobs go */
 304         servo_door_block();
 305         servo_carry_open();
 306         time_wait_ms(100);
 307         state_debug_wait_key_pressed();
 308
 309         /* store it */
 310         shovel_up();
 311
 312         i = 0;
 313         while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
 314                 STMCH_DEBUG("shovel blocked");
 315                 shovel_down();
 316
 317                 if (i == 4)
 318                         break;
 319
 320                 /* if eject command is received, force exit */
 321                 if (EJECT(state_mode))
 322                         return;
 323
 324                 time_wait_ms(250);
 325                 shovel_up();
 326                 i ++;
 327         }
 328
 329         /* bad state, try to eject to cobs */
 330         if (i == 4) {
 331                 servo_door_open();
 332                 shovel_mid();
 333
 334                 while (WAIT_COND_OR_TIMEOUT(shovel_is_mid(), 600) == 0) {
 335                         STMCH_DEBUG("ejecting cobs");
 336
 337                         shovel_down();
 338                         time_wait_ms(250);
 339                         if (state_no_cob_inside()) {
 340                                 servo_door_close();
 341                                 cob_count = 0;
 342                                 return;
 343                         }
 344                         shovel_mid();
 345                 }
 346         }
 347
 348         state_debug_wait_key_pressed();
 349
 350         /* close the carry servos */
 351         servo_carry_close();
 352         servo_door_close();
 353         time_wait_ms(200);
 354         state_debug_wait_key_pressed();
 355
 356         shovel_down();
 357
 358         while (WAIT_COND_OR_TIMEOUT(shovel_is_down(), 400) == 0) {
 359                 STMCH_DEBUG("shovel blocked");
 360                 shovel_up();
 361                 time_wait_ms(250);
 362                 shovel_down();
 363         }
 364
 365         STMCH_DEBUG("end");
 366 }
 367
 368 /* eject cobs */
 369 static void state_do_eject(void)
 370 {
 371         state_status = I2C_COBBOARD_STATUS_EJECT;
 372         cob_count = 0;
 373         shovel_mid();
 374         servo_carry_open();
 375         servo_door_open();
 376         time_wait_ms(2000);
 377         shovel_down();
 378         servo_door_close();
 379         servo_carry_close();
 380 }
 381
 382 /* main state machine */
 383 void state_machine(void)
 384 {
 385         while (state_want_exit() == 0) {
 386
 387                 state_status = I2C_COBBOARD_STATUS_READY;
 388
 389                 /* init */
 390                 if (INIT(state_mode)) {
 391                         state_init();
 392                         state_mode = I2C_COBBOARD_MODE_HARVEST;
 393                 }
 394
 395                 if (HARVEST(state_mode)) {
 396                         /* init for each loop */
 397                         shovel_down();
 398                         servo_carry_close();
 399                         servo_door_close();
 400
 401                         /* pack/deply spickles, enable/disable roller */
 402                         cobroller_off(I2C_LEFT_SIDE);
 403                         cobroller_off(I2C_RIGHT_SIDE);
 404                         spickle_prepare(I2C_LEFT_SIDE);
 405                         spickle_prepare(I2C_RIGHT_SIDE);
 406
 407                         /* harvest if not many cobs */
 408                         if (cob_count < 5) {
 409                                 if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
 410                                     state_spicklemode_autoharvest(I2C_LEFT_SIDE))
 411                                         state_do_harvest(I2C_LEFT_SIDE);
 412                                 if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
 413                                     state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
 414                                         state_do_harvest(I2C_RIGHT_SIDE);
 415                         }
 416                 }
 417
 418                 /* help to climb the hill */
 419                 if (KICKSTAND_UP(state_mode)) {
 420                         state_status = I2C_COBBOARD_STATUS_KICKSTAND_UP;
 421                         servo_carry_open();
 422                         servo_door_open();
 423                         shovel_kickstand_up();
 424                 }
 425
 426                 if (KICKSTAND_DOWN(state_mode)) {
 427                         state_status = I2C_COBBOARD_STATUS_KICKSTAND_DOWN;
 428                         servo_carry_open();
 429                         servo_door_open();
 430                         shovel_kickstand_down();
 431                 }
 432
 433                 /* eject */
 434                 if (EJECT(state_mode)) {
 435                         state_mode = I2C_COBBOARD_MODE_HARVEST;
 436                         state_do_eject();
 437                 }
 438         }
 439         state_status = I2C_COBBOARD_STATUS_OFF;
 440 }
 441
 442 void state_init(void)
 443 {
 444         vt100_init(&local_vt100);
 445         shovel_down();
 446         servo_door_close();
 447         servo_carry_close();
 448         spickle_pack(I2C_LEFT_SIDE);
 449         spickle_pack(I2C_RIGHT_SIDE);
 450         state_mode = 0;
 451         cob_count = 0;
 452         state_status = I2C_COBBOARD_STATUS_OFF;
 453 }