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 8e8affc..9d082ba 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -1,6 +1,6 @@
-/*  
+/*
  *  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
@@ -98,20 +98,31 @@ static uint8_t state_cob_present(uint8_t side)
        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 */
@@ -139,6 +150,7 @@ static uint8_t state_want_exit(void)
                return 0;
        if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
                return 1;
+       printf_P(PSTR("CTRL-C\r\n"));
        return 0;
 }
 
@@ -150,34 +162,75 @@ uint8_t state_get_mode(void)
 /* 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 */
@@ -185,10 +238,12 @@ static void state_do_eject(void)
 {
        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 */
@@ -202,29 +257,35 @@ void state_machine(void)
                        state_init();
                }
 
+               cobroller_off(I2C_LEFT_SIDE);
+               cobroller_off(I2C_RIGHT_SIDE);
+
                /* 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);
-                       left_cobroller_on();
-               }
-               else {
+               else
                        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);
-                       right_cobroller_on();
-               }
-               else {
+               else
                        spickle_pack(I2C_RIGHT_SIDE);
-                       right_cobroller_off();
-               }
 
                /* 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)) {
@@ -239,6 +300,7 @@ void state_init(void)
        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;