#define STMCH_ERROR(args...) ERROR(E_USER_ST_MACH, args)
static struct vt100 local_vt100;
-static volatile uint8_t state_mode;
+static volatile uint8_t state_mode, lspickle, rspickle;
static volatile uint8_t state_status;
+static volatile uint8_t state_i2c_ignore = 0;
static uint8_t cob_count;
/* short aliases */
-#define L_DEPLOY(mode) (!!((mode) & I2C_COBBOARD_MODE_L_DEPLOY))
-#define R_DEPLOY(mode) (!!((mode) & I2C_COBBOARD_MODE_R_DEPLOY))
-#define DEPLOY(side, mode) ((side) == I2C_LEFT_SIDE ? L_DEPLOY(mode) : R_DEPLOY(mode))
-#define L_HARVEST(mode) (!!((mode) & I2C_COBBOARD_MODE_L_HARVEST))
-#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))
+#define INIT(mode) ((mode) == I2C_COBBOARD_MODE_INIT)
+#define HARVEST(mode) ((mode) == I2C_COBBOARD_MODE_HARVEST)
+#define EJECT(mode) ((mode) == I2C_COBBOARD_MODE_EJECT)
uint8_t state_debug = 0;
!sensor_get(S_COB_INSIDE_R);
}
+static uint8_t state_spicklemode_deployed(uint8_t side)
+{
+ if (side == I2C_LEFT_SIDE)
+ return lspickle & I2C_COBBOARD_SPK_DEPLOY;
+ else
+ return rspickle & I2C_COBBOARD_SPK_DEPLOY;
+}
+
+static uint8_t state_spicklemode_autoharvest(uint8_t side)
+{
+ if (side == I2C_LEFT_SIDE)
+ return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
+ else
+ return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
+}
+
+static uint8_t state_spicklemode_nomove(uint8_t side)
+{
+ if (side == I2C_LEFT_SIDE)
+ return lspickle & I2C_COBBOARD_SPK_NO_MOVE;
+ else
+ return rspickle & I2C_COBBOARD_SPK_NO_MOVE;
+}
+
+uint8_t state_spicklemode_weak(uint8_t side)
+{
+ if (side == I2C_LEFT_SIDE)
+ return lspickle & I2C_COBBOARD_SPK_WEAK;
+ else
+ return rspickle & I2C_COBBOARD_SPK_WEAK;
+}
+
/* 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))
+ /* we do nothing in mode no out */
+ if (state_spicklemode_nomove(side))
+ return;
+
+ if (state_spicklemode_deployed(side))
spickle_deploy(side);
else
spickle_pack(side);
}
+void state_set_spickle(uint8_t side, uint8_t flags)
+{
+ if (side == I2C_LEFT_SIDE) {
+ /* the PACK command preempts the current action if the
+ * arm is not busy */
+ if (lspickle != 0 && flags == 0 &&
+ state_status != I2C_COBBOARD_STATUS_LBUSY)
+ spickle_prepare(I2C_LEFT_SIDE);
+ lspickle = flags;
+ }
+ else {
+ /* the PACK command preempts the current action if the
+ * arm is not busy */
+ if (rspickle != 0 && flags == 0 &&
+ state_status != I2C_COBBOARD_STATUS_RBUSY)
+ spickle_prepare(I2C_RIGHT_SIDE);
+ rspickle = flags;
+ }
+}
+
/* 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);
+ return 0;
+}
- /* 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), */
-/* R_DEPLOY(mode), R_HARVEST(mode), EJECT(mode)); */
+void state_set_i2c_ignore(uint8_t val)
+{
+ state_i2c_ignore = val;
+}
- return 0;
+uint8_t state_get_i2c_ignore(void)
+{
+ return state_i2c_ignore;
}
/* check that state is the one in parameter and that state did not
/* harvest cobs from area */
static void state_do_harvest(uint8_t side)
{
+ /* if there is no cob, return */
+ if (cob_falling_edge(side) == 0)
+ return;
+
if (side == I2C_LEFT_SIDE)
state_status = I2C_COBBOARD_STATUS_LBUSY;
else
state_status = I2C_COBBOARD_STATUS_RBUSY;
- /* if there is no cob, return */
- if (cob_falling_edge(side) == 0)
- return;
-
STMCH_DEBUG("start");
/* eat the cob */
spickle_pack(side);
- time_wait_ms(250);
+ time_wait_ms(200);
cobroller_on(side);
/* check that cob is correctly in place */
cobroller_off(side);
cob_count ++;
+ state_debug_wait_key_pressed();
+
/* last cob, nothing to do */
if (cob_count == 5)
return;
- /* redeploy the spickle */
- spickle_deploy(side);
+ /* redeploy the spickle if there is a black cob */
+ if (!state_spicklemode_nomove(side))
+ spickle_deploy(side);
state_debug_wait_key_pressed();
/* let the loaded cobs go */
/* store it */
shovel_up();
- while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 400) == 0) {
+ while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
STMCH_DEBUG("shovel blocked");
shovel_down();
time_wait_ms(250);
/* init */
if (INIT(state_mode)) {
- state_mode &= (~I2C_COBBOARD_MODE_INIT);
state_init();
+ state_mode = I2C_COBBOARD_MODE_HARVEST;
}
/* pack/deply spickles, enable/disable roller */
/* harvest */
if (cob_count < 5) {
- if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
+ if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
+ state_spicklemode_autoharvest(I2C_LEFT_SIDE))
state_do_harvest(I2C_LEFT_SIDE);
- if (R_DEPLOY(state_mode) && R_HARVEST(state_mode))
+ if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
+ state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
state_do_harvest(I2C_RIGHT_SIDE);
}
/* eject */
if (EJECT(state_mode)) {
- state_mode &= (~I2C_COBBOARD_MODE_EJECT);
+ state_mode = I2C_COBBOARD_MODE_HARVEST;
state_do_eject();
}
}
- state_status = I2C_COBBOARD_STATUS_READY;
+ state_status = I2C_COBBOARD_STATUS_OFF;
}
void state_init(void)
spickle_pack(I2C_RIGHT_SIDE);
state_mode = 0;
cob_count = 0;
- state_status = I2C_COBBOARD_STATUS_READY;
+ state_status = I2C_COBBOARD_STATUS_OFF;
}
git.droids-corp.org / aversive.git / blobdiff