#define INIT(mode) ((mode) == I2C_COBBOARD_MODE_INIT)
#define HARVEST(mode) ((mode) == I2C_COBBOARD_MODE_HARVEST)
#define EJECT(mode) ((mode) == I2C_COBBOARD_MODE_EJECT)
+#define KICKSTAND_UP(mode) ((mode) == I2C_COBBOARD_MODE_KICKSTAND_UP)
+#define KICKSTAND_DOWN(mode) ((mode) == I2C_COBBOARD_MODE_KICKSTAND_DOWN)
uint8_t state_debug = 0;
+static uint8_t state_cob_partial = 0;
uint8_t state_get_cob_count(void)
{
!sensor_get(S_COB_INSIDE_R);
}
-static uint8_t is_deployed(uint8_t side)
+static uint8_t state_cob_inside_enhanced(void)
+{
+ if (sensor_get(S_COB_INSIDE_L))
+ state_cob_partial = 1;
+ if (sensor_get(S_COB_INSIDE_R))
+ state_cob_partial = 1;
+ return state_cob_inside();
+}
+
+static uint8_t state_spicklemode_deployed(uint8_t side)
{
if (side == I2C_LEFT_SIDE)
return lspickle & I2C_COBBOARD_SPK_DEPLOY;
return rspickle & I2C_COBBOARD_SPK_DEPLOY;
}
-static uint8_t is_autoharvest(uint8_t side)
+static uint8_t state_spicklemode_autoharvest(uint8_t side)
{
if (side == I2C_LEFT_SIDE)
return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
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)
+ /* pack spickle if we are not in harvest mode */
+ if (!HARVEST(state_mode))
spickle_pack(side);
- else if (is_deployed(side) && !is_autoharvest(side))
- spickle_deploy(side); /*spickle_mid(side);*/
- else if (is_deployed(side) && is_autoharvest(side))
+
+ /* 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);
/* harvest cobs from area */
static void state_do_harvest(uint8_t side)
{
+ uint8_t i = 0;
+
/* if there is no cob, return */
if (cob_falling_edge(side) == 0)
return;
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()) {
+ state_cob_partial = 0;
+ if (WAIT_COND_OR_TIMEOUT(state_cob_inside_enhanced(), 750) == 0) {
+ if (state_no_cob_inside() && state_cob_partial == 0) {
STMCH_DEBUG("no cob");
return;
}
+ else if (state_no_cob_inside() && state_cob_partial == 1)
+ goto cont;
+
STMCH_DEBUG("bad cob state");
/* while cob is not correctly placed try to extract
time_wait_ms(250);
shovel_down();
time_wait_ms(250);
+
+ if (EJECT(state_mode))
+ return;
}
STMCH_DEBUG("cob removed");
}
}
+ cont:
/* cob is inside, switch off roller */
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();
+ i = 0;
while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
STMCH_DEBUG("shovel blocked");
shovel_down();
+
+ if (i == 4)
+ break;
+
+ /* if eject command is received, force exit */
+ if (EJECT(state_mode))
+ return;
+
time_wait_ms(250);
shovel_up();
+ i ++;
+ }
+
+ /* bad state, try to eject to cobs */
+ if (i == 4) {
+ servo_door_open();
+ shovel_mid();
+
+ while (WAIT_COND_OR_TIMEOUT(shovel_is_mid(), 600) == 0) {
+ STMCH_DEBUG("ejecting cobs");
+
+ shovel_down();
+ time_wait_ms(250);
+ if (state_no_cob_inside()) {
+ servo_door_close();
+ cob_count = 0;
+ return;
+ }
+ shovel_mid();
+ }
}
state_debug_wait_key_pressed();
/* init */
if (INIT(state_mode)) {
- state_mode = I2C_COBBOARD_MODE_HARVEST;
state_init();
+ state_mode = I2C_COBBOARD_MODE_HARVEST;
+ }
+
+ if (HARVEST(state_mode)) {
+ /* init for each loop */
+ shovel_down();
+ servo_carry_close();
+ servo_door_close();
+
+ /* 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 not many cobs */
+ if (cob_count < 5) {
+ if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
+ state_spicklemode_autoharvest(I2C_LEFT_SIDE))
+ state_do_harvest(I2C_LEFT_SIDE);
+ if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
+ state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
+ state_do_harvest(I2C_RIGHT_SIDE);
+ }
+ }
+
+ /* help to climb the hill */
+ if (KICKSTAND_UP(state_mode)) {
+ state_status = I2C_COBBOARD_STATUS_KICKSTAND_UP;
+ servo_carry_open();
+ servo_door_open();
+ shovel_kickstand_up();
}
- /* 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_AUTOHARVEST))
- state_do_harvest(I2C_LEFT_SIDE);
- if ((rspickle & I2C_COBBOARD_SPK_DEPLOY) &&
- (rspickle & I2C_COBBOARD_SPK_AUTOHARVEST))
- state_do_harvest(I2C_RIGHT_SIDE);
+ if (KICKSTAND_DOWN(state_mode)) {
+ state_status = I2C_COBBOARD_STATUS_KICKSTAND_DOWN;
+ servo_carry_open();
+ servo_door_open();
+ shovel_kickstand_down();
}
/* eject */
git.droids-corp.org / aversive.git / blobdiff