#define R_HARVEST(mode) (!!((mode) & I2C_COBBOARD_MODE_R_HARVEST))
#define HARVEST(side, mode) ((side) == I2C_LEFT_SIDE ? L_HARVEST(mode) : R_HARVEST(mode))
#define EJECT(mode) (!!((mode) & I2C_COBBOARD_MODE_EJECT))
+#define INIT(mode) (!!((mode) & I2C_COBBOARD_MODE_INIT))
uint8_t state_debug = 0;
}
#endif
+uint8_t state_get_cob_count(void)
+{
+ return cob_count;
+}
+
static void state_debug_wait_key_pressed(void)
{
if (!state_debug)
return 0;
}
+/* return true if the cob is correctly inside */
+static uint8_t state_cob_inside(void)
+{
+ return sensor_get(S_COB_INSIDE_L) &&
+ sensor_get(S_COB_INSIDE_R);
+}
+
/* set a new state, return 0 on success */
int8_t state_set_mode(uint8_t mode)
{
state_mode = mode;
- /* XXX synchrounous pack here */
- STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d "
- "r_deploy=%d r_harvest=%d eject=%d",
- __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode),
- R_DEPLOY(mode), R_HARVEST(mode), EJECT(mode));
+
+/* STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
+/* "r_deploy=%d r_harvest=%d eject=%d", */
+/* __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode), */
+/* R_DEPLOY(mode), R_HARVEST(mode), EJECT(mode)); */
+
return 0;
}
return 0;
if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
return 1;
+ printf_P(PSTR("CTRL-C\r\n"));
return 0;
}
/* if there is no cob, return */
if (state_cob_present(side))
return;
-
+
/* if it is black, nothing to do */
if (state_cob_color(side) == I2C_COB_BLACK)
return;
/* eat the cob */
spickle_pack(side);
- state_debug_wait_key_pressed();
+ /* xxx */
+ time_wait_ms(250);
+ left_cobroller_on();
delay = spickle_get_pack_delay(side);
- time_wait_ms(delay);
+
+ WAIT_COND_OR_TIMEOUT(state_cob_inside(), delay);
/* redeploy the spickle */
spickle_deploy(side);
state_debug_wait_key_pressed();
+ /* let the cob go */
+ servo_carry_open();
+ wait_ms(300); /* XXX */
+ state_debug_wait_key_pressed();
+
cob_count ++;
/* store it */
shovel_up();
wait_ms(200);
state_debug_wait_key_pressed();
+
+ /* close the carry servos */
+ servo_carry_close();
+ wait_ms(300); /* XXX */
+ state_debug_wait_key_pressed();
+
shovel_down();
+ left_cobroller_off();
state_debug_wait_key_pressed();
+ time_wait_ms(500);
}
/* eject cobs */
{
cob_count = 0;
shovel_mid();
+ servo_carry_open();
+ servo_door_open();
time_wait_ms(2000);
shovel_down();
+ servo_door_close();
+ servo_carry_close();
}
/* main state machine */
{
while (state_want_exit() == 0) {
- /* pack spickles */
- if (!L_DEPLOY(state_mode))
+ /* init */
+ if (INIT(state_mode)) {
+ state_mode &= (~I2C_COBBOARD_MODE_INIT);
+ state_init();
+ }
+
+ /* pack/deply spickles, enable/disable roller */
+ if (L_DEPLOY(state_mode)) {
+ spickle_deploy(I2C_LEFT_SIDE);
+ //left_cobroller_on();
+ left_cobroller_off();
+ }
+ else {
spickle_pack(I2C_LEFT_SIDE);
- if (!R_DEPLOY(state_mode))
+ left_cobroller_off();
+ }
+ if (R_DEPLOY(state_mode)) {
+ spickle_deploy(I2C_RIGHT_SIDE);
+ right_cobroller_on();
+ }
+ else {
spickle_pack(I2C_RIGHT_SIDE);
+ right_cobroller_off();
+ }
/* harvest */
if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
state_do_harvest(I2C_RIGHT_SIDE);
/* eject */
- if (EJECT(state_mode))
+ if (EJECT(state_mode)) {
+ state_mode &= (~I2C_COBBOARD_MODE_EJECT);
state_do_eject();
+ }
}
}
{
vt100_init(&local_vt100);
shovel_down();
+ servo_door_close();
+ servo_carry_close();
spickle_pack(I2C_LEFT_SIDE);
spickle_pack(I2C_RIGHT_SIDE);
state_mode = 0;