-/*
+/*
* 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
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)
{
+ /* XXX no color sensor for now */
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 */
+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);
}
/* set a new state, return 0 on success */
int8_t state_set_mode(uint8_t mode)
{
state_mode = mode;
- /* XXX synchrounous pack here */
- 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));
+
+/* 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;
}
return 0;
if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
return 1;
+ printf_P(PSTR("CTRL-C\r\n"));
return 0;
}
/* 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 it is black, nothing to do */
if (state_cob_color(side) == I2C_COB_BLACK)
return;
+ STMCH_DEBUG("start");
+
/* eat the cob */
spickle_pack(side);
- state_debug_wait_key_pressed();
- delay = spickle_get_pack_delay(side);
- time_wait_ms(delay);
+
+ time_wait_ms(250);
+ cobroller_on(side);
+
+ 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();
- cob_count ++;
+ /* let the loaded cobs go */
+ servo_door_block();
+ servo_carry_open();
+ time_wait_ms(100);
+ state_debug_wait_key_pressed();
/* 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();
- shovel_down();
+
+ /* close the carry servos */
+ servo_carry_close();
+ servo_door_close();
+ time_wait_ms(200);
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());
+ }
+
+ STMCH_DEBUG("end");
}
/* eject cobs */
{
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 */
state_init();
}
- /* pack spickles */
- if (L_DEPLOY(state_mode))
+ 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 (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);
else
spickle_pack(I2C_RIGHT_SIDE);
/* 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)) {
{
vt100_init(&local_vt100);
shovel_down();
+ servo_door_close();
+ servo_carry_close();
spickle_pack(I2C_LEFT_SIDE);
spickle_pack(I2C_RIGHT_SIDE);
state_mode = 0;
git.droids-corp.org / aversive.git / blobdiff