-/*
+/*
* 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
#define STMCH_ERROR(args...) ERROR(E_USER_ST_MACH, args)
static struct vt100 local_vt100;
-static volatile uint8_t state_mode;
+static volatile uint8_t state_mode, lspickle, rspickle;
+static volatile uint8_t state_status;
+static volatile uint8_t state_i2c_ignore = 0;
static uint8_t cob_count;
/* short aliases */
-#define L_DEPLOY(mode) (!!((mode) & I2C_COBBOARD_MODE_L_DEPLOY))
-#define R_DEPLOY(mode) (!!((mode) & I2C_COBBOARD_MODE_R_DEPLOY))
-#define DEPLOY(side, mode) ((side) == I2C_LEFT_SIDE ? L_DEPLOY(mode) : R_DEPLOY(mode))
-#define L_HARVEST(mode) (!!((mode) & I2C_COBBOARD_MODE_L_HARVEST))
-#define R_HARVEST(mode) (!!((mode) & I2C_COBBOARD_MODE_R_HARVEST))
-#define HARVEST(side, mode) ((side) == I2C_LEFT_SIDE ? L_HARVEST(mode) : R_HARVEST(mode))
-#define EJECT(mode) (!!((mode) & I2C_COBBOARD_MODE_EJECT))
-#define INIT(mode) (!!((mode) & I2C_COBBOARD_MODE_INIT))
+#define INIT(mode) ((mode) == I2C_COBBOARD_MODE_INIT)
+#define HARVEST(mode) ((mode) == I2C_COBBOARD_MODE_HARVEST)
+#define EJECT(mode) ((mode) == I2C_COBBOARD_MODE_EJECT)
uint8_t state_debug = 0;
-#if 0
-static void state_dump_sensors(void)
-{
- STMCH_DEBUG("TODO\n");
-}
-#endif
-
uint8_t state_get_cob_count(void)
{
return cob_count;
while(!cmdline_keypressed());
}
-/* return true if cob is present */
-static uint8_t state_cob_present(uint8_t side)
+/* 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 state_spicklemode_deployed(uint8_t side)
{
if (side == I2C_LEFT_SIDE)
- return sensor_get(S_LCOB);
+ return lspickle & I2C_COBBOARD_SPK_DEPLOY;
else
- /* XXX */
- // return sensor_get(S_LCOB);
- return 0;
+ return rspickle & I2C_COBBOARD_SPK_DEPLOY;
}
-/* return the detected color of the cob (only valid if present) */
-static uint8_t state_cob_color(uint8_t side)
+static uint8_t state_spicklemode_autoharvest(uint8_t side)
{
if (side == I2C_LEFT_SIDE)
- return I2C_COB_WHITE;
+ return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
else
- /* XXX */
- // return sensor_get(S_LCOB);
- return 0;
+ 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;
+}
+
+/* pack/deploy spickles depending on mode */
+static void spickle_prepare(uint8_t 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);
+}
+
+void state_set_spickle(uint8_t side, uint8_t flags)
+{
+ if (side == I2C_LEFT_SIDE) {
+ /* the PACK command preempts the current action if the
+ * arm is not busy */
+ if (lspickle != 0 && flags == 0 &&
+ state_status != I2C_COBBOARD_STATUS_LBUSY)
+ spickle_prepare(I2C_LEFT_SIDE);
+ lspickle = flags;
+ }
+ else {
+ /* the PACK command preempts the current action if the
+ * arm is 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(uint8_t mode)
{
state_mode = mode;
+ STMCH_DEBUG("%s(): mode=%x", __FUNCTION__, mode);
+ return 0;
+}
-/* 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)); */
+void state_set_i2c_ignore(uint8_t val)
+{
+ state_i2c_ignore = val;
+}
- return 0;
+uint8_t state_get_i2c_ignore(void)
+{
+ return state_i2c_ignore;
}
/* check that state is the one in parameter and that state did not
return state_mode;
}
+uint8_t state_get_status(void)
+{
+ return state_status;
+}
+
/* 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))
+ if (cob_falling_edge(side) == 0)
return;
- /* if it is black, nothing to do */
- if (state_cob_color(side) == I2C_COB_BLACK)
- return;
+ if (side == I2C_LEFT_SIDE)
+ state_status = I2C_COBBOARD_STATUS_LBUSY;
+ else
+ state_status = I2C_COBBOARD_STATUS_RBUSY;
+
+ STMCH_DEBUG("start");
/* eat the cob */
spickle_pack(side);
+
+ time_wait_ms(200);
+ 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 ++;
+
state_debug_wait_key_pressed();
- /* xxx */
- time_wait_ms(250);
- left_cobroller_on();
- delay = spickle_get_pack_delay(side);
- time_wait_ms(delay);
-
- /* redeploy the spickle */
- spickle_deploy(side);
+
+ /* last cob, nothing to do */
+ if (cob_count == 5)
+ return;
+
+ /* redeploy the spickle if there is a black cob */
+ if (!state_spicklemode_nomove(side))
+ 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);
+
+ 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();
- shovel_down();
- left_cobroller_off();
+
+ /* close the carry servos */
+ servo_carry_close();
+ servo_door_close();
+ time_wait_ms(200);
state_debug_wait_key_pressed();
- time_wait_ms(500);
+
+ 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");
}
/* eject cobs */
static void state_do_eject(void)
{
+ 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 */
{
while (state_want_exit() == 0) {
+ state_status = I2C_COBBOARD_STATUS_READY;
+
/* init */
if (INIT(state_mode)) {
- state_mode &= (~I2C_COBBOARD_MODE_INIT);
state_init();
+ state_mode = I2C_COBBOARD_MODE_HARVEST;
}
/* pack/deply spickles, enable/disable roller */
- if (L_DEPLOY(state_mode)) {
- spickle_deploy(I2C_LEFT_SIDE);
- //left_cobroller_on();
- left_cobroller_off();
- }
- else {
- spickle_pack(I2C_LEFT_SIDE);
- left_cobroller_off();
- }
- if (R_DEPLOY(state_mode)) {
- spickle_deploy(I2C_RIGHT_SIDE);
- right_cobroller_on();
- }
- else {
- spickle_pack(I2C_RIGHT_SIDE);
- right_cobroller_off();
- }
+ cobroller_off(I2C_LEFT_SIDE);
+ cobroller_off(I2C_RIGHT_SIDE);
+ spickle_prepare(I2C_LEFT_SIDE);
+ spickle_prepare(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 (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);
+ }
/* eject */
if (EJECT(state_mode)) {
- state_mode &= (~I2C_COBBOARD_MODE_EJECT);
+ state_mode = I2C_COBBOARD_MODE_HARVEST;
state_do_eject();
}
}
+ state_status = I2C_COBBOARD_STATUS_OFF;
}
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;
cob_count = 0;
+ state_status = I2C_COBBOARD_STATUS_OFF;
}
git.droids-corp.org / aversive.git / blobdiff