X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=389411ebe07746371e2e0fdb4839af30168ae725;hp=d02e54440a0aca434409f4748e1680fd5c1c6aad;hb=b022f257a5ee568737e1a684a83d0154397fffcb;hpb=57b3e145f2ff46e1a7e7d522c85f3c56821dbf48 diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c index d02e544..389411e 100644 --- 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 @@ -58,6 +58,7 @@ static struct vt100 local_vt100; static volatile uint8_t state_mode; +static volatile uint8_t state_status; static uint8_t cob_count; /* short aliases */ @@ -68,15 +69,14 @@ static uint8_t cob_count; #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)) uint8_t state_debug = 0; -#if 0 -static void state_dump_sensors(void) +uint8_t state_get_cob_count(void) { - STMCH_DEBUG("TODO\n"); + return cob_count; } -#endif static void state_debug_wait_key_pressed(void) { @@ -86,37 +86,49 @@ static void state_debug_wait_key_pressed(void) 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) { - if (side == I2C_LEFT_SIDE) - return sensor_get(S_LCOB); - else - /* XXX */ - // return sensor_get(S_LCOB); - return 0; + return sensor_get(S_COB_INSIDE_L) && + sensor_get(S_COB_INSIDE_R); } -/* return the detected color of the cob (only valid if present) */ -static uint8_t state_cob_color(uint8_t side) +/* return true if there is no cob correctly inside */ +static uint8_t state_no_cob_inside(void) { - if (side == I2C_LEFT_SIDE) - return I2C_COB_WHITE; + return !sensor_get(S_COB_INSIDE_L) && + !sensor_get(S_COB_INSIDE_R); +} + +/* 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)) + spickle_deploy(side); else - /* XXX */ - // return sensor_get(S_LCOB); - return 0; + spickle_pack(side); } /* 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)); + + /* 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)); */ + return 0; } @@ -132,6 +144,7 @@ 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; } @@ -140,46 +153,125 @@ uint8_t state_get_mode(void) 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 (side == I2C_LEFT_SIDE) + state_status = I2C_COBBOARD_STATUS_LBUSY; + else + state_status = I2C_COBBOARD_STATUS_RBUSY; /* 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) + if (cob_falling_edge(side) == 0) 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); + + /* 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 ++; + + /* 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); + + while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 400) == 0) { + STMCH_DEBUG("shovel blocked"); + shovel_down(); + time_wait_ms(250); + shovel_up(); + } + 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(); + + 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 */ @@ -187,30 +279,46 @@ void state_machine(void) { while (state_want_exit() == 0) { - /* pack spickles */ - if (!L_DEPLOY(state_mode)) - spickle_pack(I2C_LEFT_SIDE); - if (!R_DEPLOY(state_mode)) - spickle_pack(I2C_RIGHT_SIDE); + state_status = I2C_COBBOARD_STATUS_READY; + + /* init */ + if (INIT(state_mode)) { + state_mode &= (~I2C_COBBOARD_MODE_INIT); + state_init(); + } + + /* pack/deply spickles, enable/disable roller */ + 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 (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)) + if (EJECT(state_mode)) { + state_mode &= (~I2C_COBBOARD_MODE_EJECT); state_do_eject(); + } } + state_status = I2C_COBBOARD_STATUS_READY; } 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_READY; }