X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=092d0deae348ca3c26ed2b88f767a509e0a7a3d9;hp=389411ebe07746371e2e0fdb4839af30168ae725;hb=5d21466eb434aa44eeb334a19668c58ffef5665f;hpb=b022f257a5ee568737e1a684a83d0154397fffcb diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c index 389411e..092d0de 100644 --- a/projects/microb2010/cobboard/state.c +++ b/projects/microb2010/cobboard/state.c @@ -57,19 +57,15 @@ #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; @@ -100,36 +96,71 @@ static uint8_t state_no_cob_inside(void) !sensor_get(S_COB_INSIDE_R); } +static uint8_t is_deployed(uint8_t side) +{ + if (side == I2C_LEFT_SIDE) + return lspickle & I2C_COBBOARD_SPK_DEPLOY; + else + return rspickle & I2C_COBBOARD_SPK_DEPLOY; +} + +static uint8_t is_autoharvest(uint8_t side) +{ + if (side == I2C_LEFT_SIDE) + return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST; + else + return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST; +} + /* pack/deploy spickles depending on mode */ static void spickle_prepare(uint8_t side) { if (cob_count >= 5) spickle_pack(side); - else if (DEPLOY(side, state_mode) && !HARVEST(side, state_mode)) - spickle_mid(side); - else if (DEPLOY(side, state_mode) && HARVEST(side, state_mode)) + else if (is_deployed(side) && !is_autoharvest(side)) + spickle_deploy(side); /*spickle_mid(side);*/ + else if (is_deployed(side) && is_autoharvest(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; +} - /* preempt current action if not busy */ - if (state_status != I2C_COBBOARD_STATUS_LBUSY) - spickle_prepare(I2C_LEFT_SIDE); - if (state_status != I2C_COBBOARD_STATUS_RBUSY) - spickle_prepare(I2C_RIGHT_SIDE); - -/* 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 @@ -161,21 +192,21 @@ uint8_t state_get_status(void) /* 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 there is no cob, return */ - if (cob_falling_edge(side) == 0) - return; - STMCH_DEBUG("start"); /* eat the cob */ spickle_pack(side); - time_wait_ms(250); + time_wait_ms(200); cobroller_on(side); /* check that cob is correctly in place */ @@ -233,7 +264,7 @@ static void state_do_harvest(uint8_t side) /* store it */ shovel_up(); - while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 400) == 0) { + while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) { STMCH_DEBUG("shovel blocked"); shovel_down(); time_wait_ms(250); @@ -283,7 +314,7 @@ void state_machine(void) /* init */ if (INIT(state_mode)) { - state_mode &= (~I2C_COBBOARD_MODE_INIT); + state_mode = I2C_COBBOARD_MODE_HARVEST; state_init(); } @@ -295,19 +326,21 @@ void state_machine(void) /* harvest */ if (cob_count < 5) { - if (L_DEPLOY(state_mode) && L_HARVEST(state_mode)) + if ((lspickle & I2C_COBBOARD_SPK_DEPLOY) && + (lspickle & I2C_COBBOARD_SPK_AUTOHARVEST)) state_do_harvest(I2C_LEFT_SIDE); - if (R_DEPLOY(state_mode) && R_HARVEST(state_mode)) + if ((rspickle & I2C_COBBOARD_SPK_DEPLOY) && + (rspickle & I2C_COBBOARD_SPK_AUTOHARVEST)) 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_READY; + state_status = I2C_COBBOARD_STATUS_OFF; } void state_init(void) @@ -320,5 +353,5 @@ void state_init(void) spickle_pack(I2C_RIGHT_SIDE); state_mode = 0; cob_count = 0; - state_status = I2C_COBBOARD_STATUS_READY; + state_status = I2C_COBBOARD_STATUS_OFF; }