static struct vt100 local_vt100;
static volatile uint8_t state_mode;
+static volatile uint8_t state_status;
static uint8_t cob_count;
/* short aliases */
uint8_t state_debug = 0;
-#if 0
-static void state_dump_sensors(void)
-{
- STMCH_DEBUG("TODO\n");
-}
-#endif
-
uint8_t state_get_cob_count(void)
{
return cob_count;
while(!cmdline_keypressed());
}
-/* return true if cob is present */
-static uint8_t state_cob_present(uint8_t side)
-{
- if (side == I2C_LEFT_SIDE)
- return sensor_get(S_LCOB);
- else
- return sensor_get(S_RCOB);
-}
-
-/* return the detected color of the cob (only valid if present) */
-static uint8_t state_cob_color(uint8_t side)
-{
- /* XXX no color sensor for now */
- if (side == I2C_LEFT_SIDE)
- return I2C_COB_WHITE;
- else
- return I2C_COB_WHITE;
-}
-
/* return true if the cob is correctly inside */
static uint8_t state_cob_inside(void)
{
!sensor_get(S_COB_INSIDE_R);
}
+/* pack/deploy spickles depending on mode */
+static void spickle_prepare(uint8_t side)
+{
+ if (cob_count >= 5)
+ spickle_pack(side);
+ else if (DEPLOY(side, state_mode) && !HARVEST(side, state_mode))
+ spickle_mid(side);
+ else if (DEPLOY(side, state_mode) && HARVEST(side, state_mode))
+ spickle_deploy(side);
+ else
+ spickle_pack(side);
+}
+
/* set a new state, return 0 on success */
int8_t state_set_mode(uint8_t mode)
{
state_mode = mode;
+ /* preempt current action if not busy */
+ if (state_status != I2C_COBBOARD_STATUS_LBUSY)
+ spickle_prepare(I2C_LEFT_SIDE);
+ if (state_status != I2C_COBBOARD_STATUS_RBUSY)
+ spickle_prepare(I2C_RIGHT_SIDE);
+
/* STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
/* "r_deploy=%d r_harvest=%d eject=%d", */
/* __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode), */
return state_mode;
}
+uint8_t state_get_status(void)
+{
+ return state_status;
+}
+
/* harvest cobs from area */
static void state_do_harvest(uint8_t side)
{
- /* if there is no cob, return */
- if (state_cob_present(side))
- return;
+ if (side == I2C_LEFT_SIDE)
+ state_status = I2C_COBBOARD_STATUS_LBUSY;
+ else
+ state_status = I2C_COBBOARD_STATUS_RBUSY;
- /* if it is black, nothing to do */
- if (state_cob_color(side) == I2C_COB_BLACK)
+ /* if there is no cob, return */
+ if (cob_falling_edge(side) == 0)
return;
STMCH_DEBUG("start");
time_wait_ms(250);
cobroller_on(side);
+ /* check that cob is correctly in place */
if (WAIT_COND_OR_TIMEOUT(state_cob_inside(), 750) == 0) {
if (state_no_cob_inside()) {
- printf_P(PSTR("NO COB\r\n"));
+ STMCH_DEBUG("no cob");
+ return;
+ }
+ STMCH_DEBUG("bad cob state");
+
+ /* while cob is not correctly placed try to extract
+ * it as much as we can */
+ while (state_cob_inside() == 0 &&
+ state_no_cob_inside() == 0) {
+ uint8_t cpt = 0;
+ if (cpt == 0)
+ cobroller_reverse(side);
+ else if (cpt == 1)
+ cobroller_off(side);
+ else if (cpt == 2)
+ cobroller_on(side);
+ cpt ++;
+ cpt %= 3;
+ shovel_mid();
+ time_wait_ms(250);
+ shovel_down();
+ time_wait_ms(250);
+ }
+
+ STMCH_DEBUG("cob removed");
+ if (state_no_cob_inside()) {
+ STMCH_DEBUG("no cob");
return;
}
- printf_P(PSTR("BAD COB - press a key\r\n"));
- while(!cmdline_keypressed());
}
/* cob is inside, switch off roller */
/* store it */
shovel_up();
- if (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 400) == 0) {
- BRAKE_ON();
- printf_P(PSTR("BLOCKED\r\n"));
- while(!cmdline_keypressed());
+ while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 400) == 0) {
+ STMCH_DEBUG("shovel blocked");
+ shovel_down();
+ time_wait_ms(250);
+ shovel_up();
}
state_debug_wait_key_pressed();
shovel_down();
- if (WAIT_COND_OR_TIMEOUT(shovel_is_down(), 400) == 0) {
- BRAKE_ON();
- printf_P(PSTR("BLOCKED\r\n"));
- while(!cmdline_keypressed());
+ while (WAIT_COND_OR_TIMEOUT(shovel_is_down(), 400) == 0) {
+ STMCH_DEBUG("shovel blocked");
+ shovel_up();
+ time_wait_ms(250);
+ shovel_down();
}
STMCH_DEBUG("end");
/* eject cobs */
static void state_do_eject(void)
{
+ state_status = I2C_COBBOARD_STATUS_EJECT;
cob_count = 0;
shovel_mid();
servo_carry_open();
{
while (state_want_exit() == 0) {
+ state_status = I2C_COBBOARD_STATUS_READY;
+
/* init */
if (INIT(state_mode)) {
state_mode &= (~I2C_COBBOARD_MODE_INIT);
state_init();
}
+ /* pack/deply spickles, enable/disable roller */
cobroller_off(I2C_LEFT_SIDE);
cobroller_off(I2C_RIGHT_SIDE);
-
- /* pack/deply spickles, enable/disable roller */
- if (cob_count >= 5)
- spickle_pack(I2C_LEFT_SIDE);
- else if (L_DEPLOY(state_mode) && !L_HARVEST(state_mode))
- spickle_mid(I2C_LEFT_SIDE);
- else if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
- spickle_deploy(I2C_LEFT_SIDE);
- else
- spickle_pack(I2C_LEFT_SIDE);
-
- if (cob_count >= 5)
- spickle_pack(I2C_RIGHT_SIDE);
- else if (R_DEPLOY(state_mode) && !R_HARVEST(state_mode))
- spickle_mid(I2C_RIGHT_SIDE);
- else if (R_DEPLOY(state_mode) && R_HARVEST(state_mode))
- spickle_deploy(I2C_RIGHT_SIDE);
- else
- spickle_pack(I2C_RIGHT_SIDE);
+ spickle_prepare(I2C_LEFT_SIDE);
+ spickle_prepare(I2C_RIGHT_SIDE);
/* harvest */
if (cob_count < 5) {
state_do_eject();
}
}
+ state_status = I2C_COBBOARD_STATUS_READY;
}
void state_init(void)
spickle_pack(I2C_RIGHT_SIDE);
state_mode = 0;
cob_count = 0;
+ state_status = I2C_COBBOARD_STATUS_READY;
}
git.droids-corp.org / aversive.git / blobdiff