work on trajectory, update cobboard and ballboard too

[aversive.git] / projects / microb2010 / cobboard / state.c

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 3308405..9d082ba 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -1,6 +1,6 @@
-/*  
+/*

  *  Copyright Droids Corporation (2009)
  *  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
  *  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


@@ -98,20 +98,17 @@ static uint8_t state_cob_present(uint8_t side)
        if (side == I2C_LEFT_SIDE)
                return sensor_get(S_LCOB);
        else
        if (side == I2C_LEFT_SIDE)
                return sensor_get(S_LCOB);
        else

-               /* XXX */
-               //              return sensor_get(S_LCOB);
-               return 0;
+               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)
 {
 }
 
 /* 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
        if (side == I2C_LEFT_SIDE)
                return I2C_COB_WHITE;
        else

-               /* XXX */
-               //              return sensor_get(S_LCOB);
-               return 0;
+               return I2C_COB_WHITE;

 }
 
 /* return true if the cob is correctly inside */
 }
 
 /* return true if the cob is correctly inside */


@@ -121,6 +118,13 @@ static uint8_t state_cob_inside(void)
                sensor_get(S_COB_INSIDE_R);
 }
 
                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);
+}
+

 /* set a new state, return 0 on success */
 int8_t state_set_mode(uint8_t mode)
 {
 /* set a new state, return 0 on success */
 int8_t state_set_mode(uint8_t mode)
 {


@@ -158,8 +162,6 @@ uint8_t state_get_mode(void)
 /* harvest cobs from area */
 static void state_do_harvest(uint8_t side)
 {
 /* harvest cobs from area */
 static void state_do_harvest(uint8_t side)
 {

-       uint16_t delay;
-

        /* if there is no cob, return */
        if (state_cob_present(side))
                return;
        /* if there is no cob, return */
        if (state_cob_present(side))
                return;


@@ -168,40 +170,67 @@ static void state_do_harvest(uint8_t side)
        if (state_cob_color(side) == I2C_COB_BLACK)
                return;
 
        if (state_cob_color(side) == I2C_COB_BLACK)
                return;
 

+       STMCH_DEBUG("start");
+

        /* eat the cob */
        spickle_pack(side);
        /* eat the cob */
        spickle_pack(side);

-       /* xxx */
+

        time_wait_ms(250);
        time_wait_ms(250);

-       left_cobroller_on();
-       delay = spickle_get_pack_delay(side);
+       cobroller_on(side);

 
 

-       WAIT_COND_OR_TIMEOUT(state_cob_inside(), delay);
+       if (WAIT_COND_OR_TIMEOUT(state_cob_inside(), 750) == 0) {
+               if (state_no_cob_inside()) {
+                       printf_P(PSTR("NO COB\r\n"));
+                       return;
+               }
+               printf_P(PSTR("BAD COB - press a key\r\n"));
+               while(!cmdline_keypressed());
+       }
+
+       /* cob is inside, switch off roller */
+       cobroller_off(side);
+       cob_count ++;
+
+       /* last cob, nothing to do */
+       if (cob_count == 5)
+               return;

 
        /* redeploy the spickle */
        spickle_deploy(side);
        state_debug_wait_key_pressed();
 
 
        /* redeploy the spickle */
        spickle_deploy(side);
        state_debug_wait_key_pressed();
 

-       /* let the cob go */
+       /* let the loaded cobs go */
+       servo_door_block();

        servo_carry_open();
        servo_carry_open();

-       wait_ms(300); /* XXX */
+       time_wait_ms(100);

        state_debug_wait_key_pressed();
 
        state_debug_wait_key_pressed();
 

-       cob_count ++;
-

        /* store it */
        shovel_up();
        /* store it */
        shovel_up();

-       wait_ms(200);
+
+       if (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 400) == 0) {
+               BRAKE_ON();
+               printf_P(PSTR("BLOCKED\r\n"));
+               while(!cmdline_keypressed());
+       }
+

        state_debug_wait_key_pressed();
 
        /* close the carry servos */
        servo_carry_close();
        state_debug_wait_key_pressed();
 
        /* close the carry servos */
        servo_carry_close();

-       wait_ms(300); /* XXX */
+       servo_door_close();
+       time_wait_ms(200);

        state_debug_wait_key_pressed();
 
        shovel_down();
        state_debug_wait_key_pressed();
 
        shovel_down();

-       left_cobroller_off();
-       state_debug_wait_key_pressed();
-       time_wait_ms(500);
+
+       if (WAIT_COND_OR_TIMEOUT(shovel_is_down(), 400) == 0) {
+               BRAKE_ON();
+               printf_P(PSTR("BLOCKED\r\n"));
+               while(!cmdline_keypressed());
+       }
+
+       STMCH_DEBUG("end");

 }
 
 /* eject cobs */
 }
 
 /* eject cobs */


@@ -228,30 +257,35 @@ void state_machine(void)
                        state_init();
                }
 
                        state_init();
                }
 

+               cobroller_off(I2C_LEFT_SIDE);
+               cobroller_off(I2C_RIGHT_SIDE);
+

                /* pack/deply spickles, enable/disable roller */
                /* pack/deply spickles, enable/disable roller */

-               if (L_DEPLOY(state_mode)) {
+               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);
                        spickle_deploy(I2C_LEFT_SIDE);

-                       //left_cobroller_on();
-                       left_cobroller_off();
-               }
-               else {
+               else

                        spickle_pack(I2C_LEFT_SIDE);
                        spickle_pack(I2C_LEFT_SIDE);

-                       left_cobroller_off();
-               }
-               if (R_DEPLOY(state_mode)) {
+
+               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);
                        spickle_deploy(I2C_RIGHT_SIDE);

-                       right_cobroller_on();
-               }
-               else {
+               else

                        spickle_pack(I2C_RIGHT_SIDE);
                        spickle_pack(I2C_RIGHT_SIDE);

-                       right_cobroller_off();
-               }

 
                /* harvest */
 
                /* harvest */

-               if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
-                       state_do_harvest(I2C_LEFT_SIDE);
-               if (R_DEPLOY(state_mode) && R_HARVEST(state_mode))
-                       state_do_harvest(I2C_RIGHT_SIDE);
+               if (cob_count < 5) {
+                       if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
+                               state_do_harvest(I2C_LEFT_SIDE);
+                       if (R_DEPLOY(state_mode) && R_HARVEST(state_mode))
+                               state_do_harvest(I2C_RIGHT_SIDE);
+               }

 
                /* eject */
                if (EJECT(state_mode)) {
 
                /* eject */
                if (EJECT(state_mode)) {