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cobboard no move mode
[aversive.git]
/
projects
/
microb2010
/
cobboard
/
state.c
diff --git
a/projects/microb2010/cobboard/state.c
b/projects/microb2010/cobboard/state.c
index
7a1f047
..
e315da0
100644
(file)
--- a/
projects/microb2010/cobboard/state.c
+++ b/
projects/microb2010/cobboard/state.c
@@
-59,12
+59,13
@@
static struct vt100 local_vt100;
static volatile uint8_t state_mode, lspickle, rspickle;
static volatile uint8_t state_status;
static struct vt100 local_vt100;
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 */
static uint8_t cob_count;
/* short aliases */
-#define
HARVEST(mode) (!!((mode) & I2C_COBBOARD_MODE_HARVEST)
)
-#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;
uint8_t state_debug = 0;
@@
-95,7
+96,7
@@
static uint8_t state_no_cob_inside(void)
!sensor_get(S_COB_INSIDE_R);
}
!sensor_get(S_COB_INSIDE_R);
}
-static uint8_t
is
_deployed(uint8_t side)
+static uint8_t
state_spicklemode
_deployed(uint8_t side)
{
if (side == I2C_LEFT_SIDE)
return lspickle & I2C_COBBOARD_SPK_DEPLOY;
{
if (side == I2C_LEFT_SIDE)
return lspickle & I2C_COBBOARD_SPK_DEPLOY;
@@
-103,7
+104,7
@@
static uint8_t is_deployed(uint8_t side)
return rspickle & 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;
{
if (side == I2C_LEFT_SIDE)
return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
@@
-111,14
+112,22
@@
static uint8_t is_autoharvest(uint8_t side)
return rspickle & 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;
+}
+
/* pack/deploy spickles depending on mode */
static void spickle_prepare(uint8_t side)
{
/* pack/deploy spickles depending on mode */
static void spickle_prepare(uint8_t side)
{
- if (cob_count >= 5)
- spickle_pack(side);
- else if (is_deployed(side) && !is_autoharvest(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);
spickle_deploy(side);
else
spickle_pack(side);
@@
-127,14
+136,16
@@
static void spickle_prepare(uint8_t side)
void state_set_spickle(uint8_t side, uint8_t flags)
{
if (side == I2C_LEFT_SIDE) {
void state_set_spickle(uint8_t side, uint8_t flags)
{
if (side == I2C_LEFT_SIDE) {
- /* preempt current action if not busy */
+ /* 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 {
if (lspickle != 0 && flags == 0 &&
state_status != I2C_COBBOARD_STATUS_LBUSY)
spickle_prepare(I2C_LEFT_SIDE);
lspickle = flags;
}
else {
- /* preempt current action if not busy */
+ /* 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);
if (rspickle != 0 && flags == 0 &&
state_status != I2C_COBBOARD_STATUS_RBUSY)
spickle_prepare(I2C_RIGHT_SIDE);
@@
-146,13
+157,18
@@
void state_set_spickle(uint8_t side, uint8_t flags)
int8_t state_set_mode(uint8_t mode)
{
state_mode = mode;
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
}
/* check that state is the one in parameter and that state did not
@@
-184,21
+200,21
@@
uint8_t state_get_status(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)
{
+ /* if there is no cob, return */
+ if (cob_falling_edge(side) == 0)
+ return;
+
if (side == I2C_LEFT_SIDE)
state_status = I2C_COBBOARD_STATUS_LBUSY;
else
state_status = I2C_COBBOARD_STATUS_RBUSY;
if (side == I2C_LEFT_SIDE)
state_status = I2C_COBBOARD_STATUS_LBUSY;
else
state_status = I2C_COBBOARD_STATUS_RBUSY;
- /* if there is no cob, return */
- if (cob_falling_edge(side) == 0)
- return;
-
STMCH_DEBUG("start");
/* eat the cob */
spickle_pack(side);
STMCH_DEBUG("start");
/* eat the cob */
spickle_pack(side);
- time_wait_ms(2
5
0);
+ time_wait_ms(2
0
0);
cobroller_on(side);
/* check that cob is correctly in place */
cobroller_on(side);
/* check that cob is correctly in place */
@@
-239,12
+255,15
@@
static void state_do_harvest(uint8_t side)
cobroller_off(side);
cob_count ++;
cobroller_off(side);
cob_count ++;
+ state_debug_wait_key_pressed();
+
/* last cob, nothing to do */
if (cob_count == 5)
return;
/* 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 */
state_debug_wait_key_pressed();
/* let the loaded cobs go */
@@
-306,8
+325,8
@@
void state_machine(void)
/* init */
if (INIT(state_mode)) {
/* init */
if (INIT(state_mode)) {
- state_mode &= (~I2C_COBBOARD_MODE_INIT);
state_init();
state_init();
+ state_mode = I2C_COBBOARD_MODE_HARVEST;
}
/* pack/deply spickles, enable/disable roller */
}
/* pack/deply spickles, enable/disable roller */
@@
-318,17
+337,19
@@
void state_machine(void)
/* harvest */
if (cob_count < 5) {
/* harvest */
if (cob_count < 5) {
- if ((lspickle & I2C_COBBOARD_SPK_DEPLOY) &&
- (lspickle & I2C_COBBOARD_SPK_DEPLOY))
+ if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
+ state_spicklemode_autoharvest(I2C_LEFT_SIDE) &&
+ !state_spicklemode_nomove(I2C_LEFT_SIDE))
state_do_harvest(I2C_LEFT_SIDE);
state_do_harvest(I2C_LEFT_SIDE);
- if ((rspickle & I2C_COBBOARD_SPK_DEPLOY) &&
- (rspickle & I2C_COBBOARD_SPK_DEPLOY))
+ if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
+ state_spicklemode_autoharvest(I2C_RIGHT_SIDE) &&
+ !state_spicklemode_nomove(I2C_RIGHT_SIDE))
state_do_harvest(I2C_RIGHT_SIDE);
}
/* eject */
if (EJECT(state_mode)) {
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_do_eject();
}
}