ballboard blocking detection

[aversive.git] / projects / microb2010 / ballboard / state.c

diff --git a/projects/microb2010/ballboard/state.c b/projects/microb2010/ballboard/state.c
index 9568be8..a322d17 100644 (file)
--- a/projects/microb2010/ballboard/state.c
+++ b/projects/microb2010/ballboard/state.c
@@ -1,6 +1,6 @@
-/*  
+/*
  *  Copyright Droids Corporation (2009)
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -56,7 +56,8 @@
 
 static struct vt100 local_vt100;
 static volatile uint8_t state_mode;
-static uint8_t ball_count;
+static volatile uint8_t state_status;
+static volatile uint8_t ball_count;
 
 /* short aliases */
 #define INIT I2C_BALLBOARD_MODE_INIT
@@ -82,6 +83,7 @@ uint8_t state_get_ball_count(void)
        return ball_count;
 }
 
+#if 0
 static void state_debug_wait_key_pressed(void)
 {
        if (!state_debug)
@@ -89,11 +91,13 @@ static void state_debug_wait_key_pressed(void)
        printf_P(PSTR("press a key\r\n"));
        while (!cmdline_keypressed());
 }
+#endif
 
 /* set a new state, return 0 on success */
 int8_t state_set_mode(uint8_t mode)
 {
        state_mode = mode;
+       STMCH_DEBUG("%s(): mode=%x ", __FUNCTION__, mode);
 
 /*     STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
 /*                 "r_deploy=%d r_harvest=%d eject=%d", */
@@ -119,47 +123,118 @@ static uint8_t state_want_exit(void)
        return 0;
 }
 
-uint8_t state_get_mode(void)
+uint8_t state_get_status(void)
 {
-       return state_mode;
+       return state_status;
 }
 
 /* harvest balls from area */
 static void state_do_harvest(void)
 {
-       state_debug_wait_key_pressed();
-       roller_on();
+       //state_debug_wait_key_pressed();
+
+       if (bd_get(&ballboard.roller.bd)) {
+               STMCH_DEBUG("%s(): roller blocked", __FUNCTION__);
+               roller_reverse();
+               time_wait_ms(500);
+               bd_reset(&ballboard.roller.bd);
+               STMCH_DEBUG("%s(): roller restart", __FUNCTION__);
+               return;
+       }
+
+       /* deduct ball count */
+       if (sensor_get(S_LOW_BARRIER) && !sensor_get(S_HIGH_BARRIER))
+               ball_count = 1;
+       else if (sensor_get(S_LOW_BARRIER) && sensor_get(S_HIGH_BARRIER))
+               ball_count = 3;
+
+       if (sensor_get(S_HIGH_BARRIER))
+               roller_off();
+       else
+               roller_on();
 }
 
 /* eject balls */
 static void state_do_eject(void)
 {
-       roller_reverse();
+       uint8_t i, blocked;
+       microseconds us;
+
+       for (i = 0; i < 3; i ++) {
+
+               roller_reverse();
+
+               us = time_get_us2();
+               blocked = 0;
+
+               while (1) {
+
+                       /* no more balls (sensor is heavily filtered) */
+                       if (!sensor_get(S_LOW_BARRIER)) {
+                               STMCH_DEBUG("%s(): no more balls", __FUNCTION__);
+                               break;
+                       }
+
+                       /* timeout */
+                       if ((time_get_us2() - us) > 1000UL * 1000UL) {
+                               STMCH_DEBUG("%s(): eject timeout", __FUNCTION__);
+                               blocked = 1;
+                               break;
+                       }
+
+                       /* blocking ! */
+                       if (bd_get(&ballboard.roller.bd)) {
+                               blocked = 1;
+                               break;
+                       }
+               }
+
+               if (!blocked)
+                       break;
+
+               STMCH_DEBUG("%s(): roller blocked", __FUNCTION__);
+               roller_on();
+               time_wait_ms(500);
+               bd_reset(&ballboard.roller.bd);
+               STMCH_DEBUG("%s(): roller restart", __FUNCTION__);
+       }
 }
 
 /* main state machine */
 void state_machine(void)
 {
+       uint8_t mode = 0;
+
        while (state_want_exit() == 0) {
 
+               if (state_mode != mode) {
+                       mode = state_mode;
+                       STMCH_DEBUG("%s(): mode=%x ", __FUNCTION__, mode);
+               }
+
                switch (state_mode) {
 
                case INIT:
-                       state_mode = OFF;
                        state_init();
+                       state_mode = OFF;
+                       state_status = I2C_BALLBOARD_STATUS_F_READY;
                        break;
 
                case OFF:
+                       state_status = I2C_BALLBOARD_STATUS_F_READY;
                        roller_off();
                        break;
 
                case HARVEST:
+                       state_status = I2C_BALLBOARD_STATUS_F_READY;
                        state_do_harvest();
                        break;
 
                case EJECT:
-                       state_mode = HARVEST;
+                       state_status = I2C_BALLBOARD_STATUS_F_BUSY;
                        state_do_eject();
+                       state_status = I2C_BALLBOARD_STATUS_F_READY;
+                       state_mode = HARVEST;
                        break;
 
                default:
@@ -172,5 +247,6 @@ void state_init(void)
 {
        vt100_init(&local_vt100);
        state_mode = 0;
+       state_status = I2C_BALLBOARD_STATUS_F_READY;
        ball_count = 0;
 }