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(mode)  ((mode) == I2C_COBBOARD_MODE_KICKSTAND)
  70
  71 uint8_t state_debug = 0;
  72
  73 uint8_t state_get_cob_count(void)
  74 {
  75         return cob_count;
  76 }
  77
  78 static void state_debug_wait_key_pressed(void)
  79 {
  80         if (!state_debug)
  81                 return;
  82         printf_P(PSTR("press a key\r\n"));
  83         while(!cmdline_keypressed());
  84 }
  85
  86 /* return true if the cob is correctly inside */
  87 static uint8_t state_cob_inside(void)
  88 {
  89         return sensor_get(S_COB_INSIDE_L) &&
  90                 sensor_get(S_COB_INSIDE_R);
  91 }
  92
  93 /* return true if there is no cob correctly inside */
  94 static uint8_t state_no_cob_inside(void)
  95 {
  96         return !sensor_get(S_COB_INSIDE_L) &&
  97                 !sensor_get(S_COB_INSIDE_R);
  98 }
  99
 100 static uint8_t state_spicklemode_deployed(uint8_t side)
 101 {
 102         if (side == I2C_LEFT_SIDE)
 103                 return lspickle & I2C_COBBOARD_SPK_DEPLOY;
 104         else
 105                 return rspickle & I2C_COBBOARD_SPK_DEPLOY;
 106 }
 107
 108 static uint8_t state_spicklemode_autoharvest(uint8_t side)
 109 {
 110         if (side == I2C_LEFT_SIDE)
 111                 return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 112         else
 113                 return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 114 }
 115
 116 static uint8_t state_spicklemode_nomove(uint8_t side)
 117 {
 118         if (side == I2C_LEFT_SIDE)
 119                 return lspickle & I2C_COBBOARD_SPK_NO_MOVE;
 120         else
 121                 return rspickle & I2C_COBBOARD_SPK_NO_MOVE;
 122 }
 123
 124 uint8_t state_spicklemode_weak(uint8_t side)
 125 {
 126         if (side == I2C_LEFT_SIDE)
 127                 return lspickle & I2C_COBBOARD_SPK_WEAK;
 128         else
 129                 return rspickle & I2C_COBBOARD_SPK_WEAK;
 130 }
 131
 132 /* pack/deploy spickles depending on mode */
 133 static void spickle_prepare(uint8_t side)
 134 {
 135         /* pack spickle if we are not in harvest mode */
 136         if (!HARVEST(state_mode))
 137                 spickle_pack(side);
 138
 139         /* we do nothing in mode no out */
 140         if (state_spicklemode_nomove(side))
 141                 return;
 142
 143         if (state_spicklemode_deployed(side))
 144                 spickle_deploy(side);
 145         else
 146                 spickle_pack(side);
 147 }
 148
 149 void state_set_spickle(uint8_t side, uint8_t flags)
 150 {
 151         if (side == I2C_LEFT_SIDE) {
 152                 /* the PACK command preempts the current action if the
 153                  * arm is not busy */
 154                 if (lspickle != 0 && flags == 0 &&
 155                     state_status != I2C_COBBOARD_STATUS_LBUSY)
 156                         spickle_prepare(I2C_LEFT_SIDE);
 157                 lspickle = flags;
 158         }
 159         else {
 160                 /* the PACK command preempts the current action if the
 161                  * arm is not busy */
 162                 if (rspickle != 0 && flags == 0 &&
 163                     state_status != I2C_COBBOARD_STATUS_RBUSY)
 164                         spickle_prepare(I2C_RIGHT_SIDE);
 165                 rspickle = flags;
 166         }
 167 }
 168
 169 /* set a new state, return 0 on success */
 170 int8_t state_set_mode(uint8_t mode)
 171 {
 172         state_mode = mode;
 173         STMCH_DEBUG("%s(): mode=%x", __FUNCTION__, mode);
 174         return 0;
 175 }
 176
 177 void state_set_i2c_ignore(uint8_t val)
 178 {
 179         state_i2c_ignore = val;
 180 }
 181
 182 uint8_t state_get_i2c_ignore(void)
 183 {
 184         return state_i2c_ignore;
 185 }
 186
 187 /* check that state is the one in parameter and that state did not
 188  * changed */
 189 static uint8_t state_want_exit(void)
 190 {
 191         int16_t c;
 192
 193         /* force quit when CTRL-C is typed */
 194         c = cmdline_getchar();
 195         if (c == -1)
 196                 return 0;
 197         if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
 198                 return 1;
 199         printf_P(PSTR("CTRL-C\r\n"));
 200         return 0;
 201 }
 202
 203 uint8_t state_get_mode(void)
 204 {
 205         return state_mode;
 206 }
 207
 208 uint8_t state_get_status(void)
 209 {
 210         return state_status;
 211 }
 212
 213 /* harvest cobs from area */
 214 static void state_do_harvest(uint8_t side)
 215 {
 216         /* if there is no cob, return */
 217         if (cob_falling_edge(side) == 0)
 218                 return;
 219
 220         if (side == I2C_LEFT_SIDE)
 221                 state_status = I2C_COBBOARD_STATUS_LBUSY;
 222         else
 223                 state_status = I2C_COBBOARD_STATUS_RBUSY;
 224
 225         STMCH_DEBUG("start");
 226
 227         /* eat the cob */
 228         spickle_pack(side);
 229
 230         time_wait_ms(200);
 231         cobroller_on(side);
 232
 233         /* check that cob is correctly in place */
 234         if (WAIT_COND_OR_TIMEOUT(state_cob_inside(), 750) == 0) {
 235                 if (state_no_cob_inside()) {
 236                         STMCH_DEBUG("no cob");
 237                         return;
 238                 }
 239                 STMCH_DEBUG("bad cob state");
 240
 241                 /* while cob is not correctly placed try to extract
 242                  * it as much as we can */
 243                 while (state_cob_inside() == 0 &&
 244                        state_no_cob_inside() == 0) {
 245                         uint8_t cpt = 0;
 246                         if (cpt == 0)
 247                                 cobroller_reverse(side);
 248                         else if (cpt == 1)
 249                                 cobroller_off(side);
 250                         else if (cpt == 2)
 251                                 cobroller_on(side);
 252                         cpt ++;
 253                         cpt %= 3;
 254                         shovel_mid();
 255                         time_wait_ms(250);
 256                         shovel_down();
 257                         time_wait_ms(250);
 258                 }
 259
 260                 STMCH_DEBUG("cob removed");
 261                 if (state_no_cob_inside()) {
 262                         STMCH_DEBUG("no cob");
 263                         return;
 264                 }
 265         }
 266
 267         /* cob is inside, switch off roller */
 268         cobroller_off(side);
 269         cob_count ++;
 270
 271         state_debug_wait_key_pressed();
 272
 273         /* last cob, nothing to do */
 274         if (cob_count == 5)
 275                 return;
 276
 277         /* redeploy the spickle if there is a black cob */
 278         if (!state_spicklemode_nomove(side))
 279                 spickle_deploy(side);
 280         state_debug_wait_key_pressed();
 281
 282         /* let the loaded cobs go */
 283         servo_door_block();
 284         servo_carry_open();
 285         time_wait_ms(100);
 286         state_debug_wait_key_pressed();
 287
 288         /* store it */
 289         shovel_up();
 290
 291         while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
 292                 STMCH_DEBUG("shovel blocked");
 293                 shovel_down();
 294                 time_wait_ms(250);
 295                 shovel_up();
 296         }
 297
 298         state_debug_wait_key_pressed();
 299
 300         /* close the carry servos */
 301         servo_carry_close();
 302         servo_door_close();
 303         time_wait_ms(200);
 304         state_debug_wait_key_pressed();
 305
 306         shovel_down();
 307
 308         while (WAIT_COND_OR_TIMEOUT(shovel_is_down(), 400) == 0) {
 309                 STMCH_DEBUG("shovel blocked");
 310                 shovel_up();
 311                 time_wait_ms(250);
 312                 shovel_down();
 313         }
 314
 315         STMCH_DEBUG("end");
 316 }
 317
 318 /* eject cobs */
 319 static void state_do_eject(void)
 320 {
 321         state_status = I2C_COBBOARD_STATUS_EJECT;
 322         cob_count = 0;
 323         shovel_mid();
 324         servo_carry_open();
 325         servo_door_open();
 326         time_wait_ms(2000);
 327         shovel_down();
 328         servo_door_close();
 329         servo_carry_close();
 330 }
 331
 332 /* main state machine */
 333 void state_machine(void)
 334 {
 335         while (state_want_exit() == 0) {
 336
 337                 state_status = I2C_COBBOARD_STATUS_READY;
 338
 339                 /* init */
 340                 if (INIT(state_mode)) {
 341                         state_init();
 342                         state_mode = I2C_COBBOARD_MODE_HARVEST;
 343                 }
 344
 345                 if (HARVEST(state_mode)) {
 346                         /* init for each loop */
 347                         shovel_down();
 348                         servo_carry_close();
 349                         servo_door_close();
 350                         shovel_current_limit_enable(0);
 351
 352                         /* pack/deply spickles, enable/disable roller */
 353                         cobroller_off(I2C_LEFT_SIDE);
 354                         cobroller_off(I2C_RIGHT_SIDE);
 355                         spickle_prepare(I2C_LEFT_SIDE);
 356                         spickle_prepare(I2C_RIGHT_SIDE);
 357
 358                         /* harvest if not many cobs */
 359                         if (cob_count < 5) {
 360                                 if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
 361                                     state_spicklemode_autoharvest(I2C_LEFT_SIDE))
 362                                         state_do_harvest(I2C_LEFT_SIDE);
 363                                 if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
 364                                     state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
 365                                         state_do_harvest(I2C_RIGHT_SIDE);
 366                         }
 367                 }
 368
 369                 /* help to climb the hill */
 370                 if (KICKSTAND(state_mode)) {
 371                         servo_carry_open();
 372                         servo_door_open();
 373                         shovel_current_limit_enable(1);
 374                         shovel_kickstand();
 375                 }
 376
 377                 /* eject */
 378                 if (EJECT(state_mode)) {
 379                         state_mode = I2C_COBBOARD_MODE_HARVEST;
 380                         state_do_eject();
 381                 }
 382         }
 383         state_status = I2C_COBBOARD_STATUS_OFF;
 384 }
 385
 386 void state_init(void)
 387 {
 388         vt100_init(&local_vt100);
 389         shovel_down();
 390         servo_door_close();
 391         servo_carry_close();
 392         spickle_pack(I2C_LEFT_SIDE);
 393         spickle_pack(I2C_RIGHT_SIDE);
 394         state_mode = 0;
 395         cob_count = 0;
 396         state_status = I2C_COBBOARD_STATUS_OFF;
 397 }