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;
  61 static volatile uint8_t state_status;
  62 static uint8_t cob_count;
  63
  64 /* short aliases */
  65 #define L_DEPLOY(mode)   (!!((mode) & I2C_COBBOARD_MODE_L_DEPLOY))
  66 #define R_DEPLOY(mode)   (!!((mode) & I2C_COBBOARD_MODE_R_DEPLOY))
  67 #define DEPLOY(side, mode) ((side) == I2C_LEFT_SIDE ? L_DEPLOY(mode) : R_DEPLOY(mode))
  68 #define L_HARVEST(mode)  (!!((mode) & I2C_COBBOARD_MODE_L_HARVEST))
  69 #define R_HARVEST(mode)  (!!((mode) & I2C_COBBOARD_MODE_R_HARVEST))
  70 #define HARVEST(side, mode) ((side) == I2C_LEFT_SIDE ? L_HARVEST(mode) : R_HARVEST(mode))
  71 #define EJECT(mode)      (!!((mode) & I2C_COBBOARD_MODE_EJECT))
  72 #define INIT(mode)       (!!((mode) & I2C_COBBOARD_MODE_INIT))
  73
  74 uint8_t state_debug = 0;
  75
  76 uint8_t state_get_cob_count(void)
  77 {
  78         return cob_count;
  79 }
  80
  81 static void state_debug_wait_key_pressed(void)
  82 {
  83         if (!state_debug)
  84                 return;
  85         printf_P(PSTR("press a key\r\n"));
  86         while(!cmdline_keypressed());
  87 }
  88
  89 /* return true if the cob is correctly inside */
  90 static uint8_t state_cob_inside(void)
  91 {
  92         return sensor_get(S_COB_INSIDE_L) &&
  93                 sensor_get(S_COB_INSIDE_R);
  94 }
  95
  96 /* return true if there is no cob correctly inside */
  97 static uint8_t state_no_cob_inside(void)
  98 {
  99         return !sensor_get(S_COB_INSIDE_L) &&
 100                 !sensor_get(S_COB_INSIDE_R);
 101 }
 102
 103 /* pack/deploy spickles depending on mode */
 104 static void spickle_prepare(uint8_t side)
 105 {
 106         if (cob_count >= 5)
 107                 spickle_pack(side);
 108         else if (DEPLOY(side, state_mode) && !HARVEST(side, state_mode))
 109                 spickle_mid(side);
 110         else if (DEPLOY(side, state_mode) && HARVEST(side, state_mode))
 111                 spickle_deploy(side);
 112         else
 113                 spickle_pack(side);
 114 }
 115
 116 /* set a new state, return 0 on success */
 117 int8_t state_set_mode(uint8_t mode)
 118 {
 119         state_mode = mode;
 120
 121         /* preempt current action if not busy */
 122         if (state_status != I2C_COBBOARD_STATUS_LBUSY)
 123                 spickle_prepare(I2C_LEFT_SIDE);
 124         if (state_status != I2C_COBBOARD_STATUS_RBUSY)
 125                 spickle_prepare(I2C_RIGHT_SIDE);
 126
 127 /*      STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
 128 /*                  "r_deploy=%d r_harvest=%d eject=%d", */
 129 /*                  __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode), */
 130 /*                  R_DEPLOY(mode), R_HARVEST(mode), EJECT(mode)); */
 131
 132         return 0;
 133 }
 134
 135 /* check that state is the one in parameter and that state did not
 136  * changed */
 137 static uint8_t state_want_exit(void)
 138 {
 139         int16_t c;
 140
 141         /* force quit when CTRL-C is typed */
 142         c = cmdline_getchar();
 143         if (c == -1)
 144                 return 0;
 145         if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
 146                 return 1;
 147         printf_P(PSTR("CTRL-C\r\n"));
 148         return 0;
 149 }
 150
 151 uint8_t state_get_mode(void)
 152 {
 153         return state_mode;
 154 }
 155
 156 uint8_t state_get_status(void)
 157 {
 158         return state_status;
 159 }
 160
 161 /* harvest cobs from area */
 162 static void state_do_harvest(uint8_t side)
 163 {
 164         if (side == I2C_LEFT_SIDE)
 165                 state_status = I2C_COBBOARD_STATUS_LBUSY;
 166         else
 167                 state_status = I2C_COBBOARD_STATUS_RBUSY;
 168
 169         /* if there is no cob, return */
 170         if (cob_falling_edge(side) == 0)
 171                 return;
 172
 173         STMCH_DEBUG("start");
 174
 175         /* eat the cob */
 176         spickle_pack(side);
 177
 178         time_wait_ms(250);
 179         cobroller_on(side);
 180
 181         /* check that cob is correctly in place */
 182         if (WAIT_COND_OR_TIMEOUT(state_cob_inside(), 750) == 0) {
 183                 if (state_no_cob_inside()) {
 184                         STMCH_DEBUG("no cob");
 185                         return;
 186                 }
 187                 STMCH_DEBUG("bad cob state");
 188
 189                 /* while cob is not correctly placed try to extract
 190                  * it as much as we can */
 191                 while (state_cob_inside() == 0 &&
 192                        state_no_cob_inside() == 0) {
 193                         uint8_t cpt = 0;
 194                         if (cpt == 0)
 195                                 cobroller_reverse(side);
 196                         else if (cpt == 1)
 197                                 cobroller_off(side);
 198                         else if (cpt == 2)
 199                                 cobroller_on(side);
 200                         cpt ++;
 201                         cpt %= 3;
 202                         shovel_mid();
 203                         time_wait_ms(250);
 204                         shovel_down();
 205                         time_wait_ms(250);
 206                 }
 207
 208                 STMCH_DEBUG("cob removed");
 209                 if (state_no_cob_inside()) {
 210                         STMCH_DEBUG("no cob");
 211                         return;
 212                 }
 213         }
 214
 215         /* cob is inside, switch off roller */
 216         cobroller_off(side);
 217         cob_count ++;
 218
 219         /* last cob, nothing to do */
 220         if (cob_count == 5)
 221                 return;
 222
 223         /* redeploy the spickle */
 224         spickle_deploy(side);
 225         state_debug_wait_key_pressed();
 226
 227         /* let the loaded cobs go */
 228         servo_door_block();
 229         servo_carry_open();
 230         time_wait_ms(100);
 231         state_debug_wait_key_pressed();
 232
 233         /* store it */
 234         shovel_up();
 235
 236         while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
 237                 STMCH_DEBUG("shovel blocked");
 238                 shovel_down();
 239                 time_wait_ms(250);
 240                 shovel_up();
 241         }
 242
 243         state_debug_wait_key_pressed();
 244
 245         /* close the carry servos */
 246         servo_carry_close();
 247         servo_door_close();
 248         time_wait_ms(200);
 249         state_debug_wait_key_pressed();
 250
 251         shovel_down();
 252
 253         while (WAIT_COND_OR_TIMEOUT(shovel_is_down(), 400) == 0) {
 254                 STMCH_DEBUG("shovel blocked");
 255                 shovel_up();
 256                 time_wait_ms(250);
 257                 shovel_down();
 258         }
 259
 260         STMCH_DEBUG("end");
 261 }
 262
 263 /* eject cobs */
 264 static void state_do_eject(void)
 265 {
 266         state_status = I2C_COBBOARD_STATUS_EJECT;
 267         cob_count = 0;
 268         shovel_mid();
 269         servo_carry_open();
 270         servo_door_open();
 271         time_wait_ms(2000);
 272         shovel_down();
 273         servo_door_close();
 274         servo_carry_close();
 275 }
 276
 277 /* main state machine */
 278 void state_machine(void)
 279 {
 280         while (state_want_exit() == 0) {
 281
 282                 state_status = I2C_COBBOARD_STATUS_READY;
 283
 284                 /* init */
 285                 if (INIT(state_mode)) {
 286                         state_mode &= (~I2C_COBBOARD_MODE_INIT);
 287                         state_init();
 288                 }
 289
 290                 /* pack/deply spickles, enable/disable roller */
 291                 cobroller_off(I2C_LEFT_SIDE);
 292                 cobroller_off(I2C_RIGHT_SIDE);
 293                 spickle_prepare(I2C_LEFT_SIDE);
 294                 spickle_prepare(I2C_RIGHT_SIDE);
 295
 296                 /* harvest */
 297                 if (cob_count < 5) {
 298                         if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
 299                                 state_do_harvest(I2C_LEFT_SIDE);
 300                         if (R_DEPLOY(state_mode) && R_HARVEST(state_mode))
 301                                 state_do_harvest(I2C_RIGHT_SIDE);
 302                 }
 303
 304                 /* eject */
 305                 if (EJECT(state_mode)) {
 306                         state_mode &= (~I2C_COBBOARD_MODE_EJECT);
 307                         state_do_eject();
 308                 }
 309         }
 310         state_status = I2C_COBBOARD_STATUS_READY;
 311 }
 312
 313 void state_init(void)
 314 {
 315         vt100_init(&local_vt100);
 316         shovel_down();
 317         servo_door_close();
 318         servo_carry_close();
 319         spickle_pack(I2C_LEFT_SIDE);
 320         spickle_pack(I2C_RIGHT_SIDE);
 321         state_mode = 0;
 322         cob_count = 0;
 323         state_status = I2C_COBBOARD_STATUS_READY;
 324 }