-/*
+/*
* 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
#include "cmdline.h"
#include "sensor.h"
#include "actuator.h"
+#include "spickle.h"
+#include "shovel.h"
#include "state.h"
#define STMCH_DEBUG(args...) DEBUG(E_USER_ST_MACH, args)
#define STMCH_NOTICE(args...) NOTICE(E_USER_ST_MACH, args)
#define STMCH_ERROR(args...) ERROR(E_USER_ST_MACH, args)
-/* shorter aliases for this file */
-#define INIT I2C_COBBOARD_MODE_INIT
-#define MANUAL I2C_COBBOARD_MODE_MANUAL
-#define HARVEST I2C_COBBOARD_MODE_HARVEST
-#define EXIT I2C_COBBOARD_MODE_EXIT
-
-static struct i2c_cmd_cobboard_set_mode mainboard_command;
static struct vt100 local_vt100;
-static volatile uint8_t prev_state;
-static volatile uint8_t changed = 0;
+static volatile uint8_t state_mode, lspickle, rspickle;
+static volatile uint8_t state_status;
+static uint8_t cob_count;
+
+/* short aliases */
+#define HARVEST(mode) (!!((mode) & I2C_COBBOARD_MODE_HARVEST))
+#define EJECT(mode) (!!((mode) & I2C_COBBOARD_MODE_EJECT))
+#define INIT(mode) (!!((mode) & I2C_COBBOARD_MODE_INIT))
uint8_t state_debug = 0;
-void state_dump_sensors(void)
+uint8_t state_get_cob_count(void)
{
- STMCH_DEBUG("TODO\n");
+ return cob_count;
}
-void state_debug_wait_key_pressed(void)
+static void state_debug_wait_key_pressed(void)
{
if (!state_debug)
return;
while(!cmdline_keypressed());
}
+/* 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);
+}
+
+/* return true if there is no cob correctly inside */
+static uint8_t state_no_cob_inside(void)
+{
+ return !sensor_get(S_COB_INSIDE_L) &&
+ !sensor_get(S_COB_INSIDE_R);
+}
+
+static uint8_t is_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 is_autoharvest(uint8_t side)
+{
+ if (side == I2C_LEFT_SIDE)
+ return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
+ else
+ return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
+}
+
+/* pack/deploy spickles depending on mode */
+static void spickle_prepare(uint8_t side)
+{
+ if (cob_count >= 5)
+ spickle_pack(side);
+ else if (is_deployed(side) && !is_autoharvest(side))
+ spickle_mid(side);
+ else if (is_deployed(side) && is_autoharvest(side))
+ spickle_deploy(side);
+ else
+ spickle_pack(side);
+}
+
+void state_set_spickle(uint8_t side, uint8_t flags)
+{
+ if (side == I2C_LEFT_SIDE) {
+ /* preempt current action if not busy */
+ if (lspickle != 0 && flags == 0 &&
+ state_status != I2C_COBBOARD_STATUS_LBUSY)
+ spickle_prepare(I2C_LEFT_SIDE);
+ lspickle = flags;
+ }
+ else {
+ /* preempt current action if 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(struct i2c_cmd_cobboard_set_mode *cmd)
+int8_t state_set_mode(uint8_t mode)
{
- changed = 1;
- prev_state = mainboard_command.mode;
- memcpy(&mainboard_command, cmd, sizeof(mainboard_command));
- STMCH_DEBUG("%s mode=%d", __FUNCTION__, mainboard_command.mode);
+ state_mode = 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;
}
/* check that state is the one in parameter and that state did not
* changed */
-uint8_t state_check(uint8_t mode)
+static uint8_t state_want_exit(void)
{
int16_t c;
- if (mode != mainboard_command.mode)
- return 0;
-
- if (changed)
- return 0;
/* force quit when CTRL-C is typed */
c = cmdline_getchar();
if (c == -1)
- return 1;
- if (vt100_parser(&local_vt100, c) == KEY_CTRL_C) {
- mainboard_command.mode = EXIT;
return 0;
- }
- return 1;
+ if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
+ return 1;
+ printf_P(PSTR("CTRL-C\r\n"));
+ return 0;
}
uint8_t state_get_mode(void)
{
- return mainboard_command.mode;
+ return state_mode;
}
-/* manual mode, arm position is sent from mainboard */
-static void state_do_manual(void)
+uint8_t state_get_status(void)
{
- if (!state_check(MANUAL))
- return;
- STMCH_DEBUG("%s mode=%d", __FUNCTION__, state_get_mode());
- while (state_check(MANUAL));
+ return state_status;
}
-/* init mode */
-static void state_do_init(void)
+/* harvest cobs from area */
+static void state_do_harvest(uint8_t side)
{
- if (!state_check(INIT))
+ 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);
+ 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()) {
+ 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;
+ }
+ }
+
+ /* cob is inside, switch off roller */
+ cobroller_off(side);
+ cob_count ++;
+
+ /* last cob, nothing to do */
+ if (cob_count == 5)
return;
- state_init();
- STMCH_DEBUG("%s mode=%d", __FUNCTION__, state_get_mode());
- while (state_check(INIT));
+
+ /* redeploy the spickle */
+ spickle_deploy(side);
+ state_debug_wait_key_pressed();
+
+ /* let the loaded cobs go */
+ servo_door_block();
+ servo_carry_open();
+ time_wait_ms(100);
+ state_debug_wait_key_pressed();
+
+ /* store it */
+ shovel_up();
+
+ while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
+ STMCH_DEBUG("shovel blocked");
+ shovel_down();
+ time_wait_ms(250);
+ shovel_up();
+ }
+
+ state_debug_wait_key_pressed();
+
+ /* close the carry servos */
+ servo_carry_close();
+ servo_door_close();
+ time_wait_ms(200);
+ state_debug_wait_key_pressed();
+
+ shovel_down();
+
+ 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");
}
-/* harvest columns elts from area */
-static void state_do_harvest(void)
+/* eject cobs */
+static void state_do_eject(void)
{
- if (!state_check(HARVEST))
- return;
- STMCH_DEBUG("%s mode=%d", __FUNCTION__, state_get_mode());
- while (state_check(HARVEST));
+ state_status = I2C_COBBOARD_STATUS_EJECT;
+ 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 */
void state_machine(void)
{
- while (state_get_mode() != EXIT) {
- changed = 0;
- state_do_init();
- state_do_manual();
- state_do_harvest();
+ 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);
+ spickle_prepare(I2C_LEFT_SIDE);
+ spickle_prepare(I2C_RIGHT_SIDE);
+
+ /* harvest */
+ if (cob_count < 5) {
+ if ((lspickle & I2C_COBBOARD_SPK_DEPLOY) &&
+ (lspickle & I2C_COBBOARD_SPK_DEPLOY))
+ state_do_harvest(I2C_LEFT_SIDE);
+ if ((rspickle & I2C_COBBOARD_SPK_DEPLOY) &&
+ (rspickle & I2C_COBBOARD_SPK_DEPLOY))
+ state_do_harvest(I2C_RIGHT_SIDE);
+ }
+
+ /* eject */
+ if (EJECT(state_mode)) {
+ state_mode &= (~I2C_COBBOARD_MODE_EJECT);
+ state_do_eject();
+ }
}
+ state_status = I2C_COBBOARD_STATUS_OFF;
}
void state_init(void)
{
vt100_init(&local_vt100);
- mainboard_command.mode = HARVEST;
- cobboard.cob_count = 0;
+ shovel_down();
+ servo_door_close();
+ servo_carry_close();
+ spickle_pack(I2C_LEFT_SIDE);
+ spickle_pack(I2C_RIGHT_SIDE);
+ state_mode = 0;
+ cob_count = 0;
+ state_status = I2C_COBBOARD_STATUS_OFF;
}
git.droids-corp.org / aversive.git / blobdiff