X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=9c6af8cfee3a964900c890d4fd3160276eae982a;hp=7a1f047997df50deab9c3f20ca05a343165b163f;hb=HEAD;hpb=19cd41f7920628a962928580cd1618a1ee5750aa

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 7a1f047..9c6af8c 100644
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -59,14 +59,18 @@
 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 */
-#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)
+#define KICKSTAND_UP(mode)    ((mode) == I2C_COBBOARD_MODE_KICKSTAND_UP)
+#define KICKSTAND_DOWN(mode)  ((mode) == I2C_COBBOARD_MODE_KICKSTAND_DOWN)
 
 uint8_t state_debug = 0;
+static uint8_t state_cob_partial = 0;
 
 uint8_t state_get_cob_count(void)
 {
@@ -95,7 +99,16 @@ static uint8_t state_no_cob_inside(void)
 		!sensor_get(S_COB_INSIDE_R);
 }
 
-static uint8_t is_deployed(uint8_t side)
+static uint8_t state_cob_inside_enhanced(void)
+{
+	if (sensor_get(S_COB_INSIDE_L))
+		state_cob_partial = 1;
+	if (sensor_get(S_COB_INSIDE_R))
+		state_cob_partial = 1;
+	return state_cob_inside();
+}
+
+static uint8_t state_spicklemode_deployed(uint8_t side)
 {
 	if (side == I2C_LEFT_SIDE)
 		return lspickle & I2C_COBBOARD_SPK_DEPLOY;
@@ -103,7 +116,7 @@ static uint8_t is_deployed(uint8_t side)
 		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;
@@ -111,14 +124,34 @@ static uint8_t is_autoharvest(uint8_t side)
 		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;
+}
+
+uint8_t state_spicklemode_weak(uint8_t side)
+{
+	if (side == I2C_LEFT_SIDE)
+		return lspickle & I2C_COBBOARD_SPK_WEAK;
+	else
+		return rspickle & I2C_COBBOARD_SPK_WEAK;
+}
+
 /* pack/deploy spickles depending on mode */
 static void spickle_prepare(uint8_t side)
 {
-	if (cob_count >= 5)
+	/* pack spickle if we are not in harvest mode */
+	if (!HARVEST(state_mode))
 		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);
@@ -127,14 +160,16 @@ static void spickle_prepare(uint8_t 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 {
-		/* 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);
@@ -146,13 +181,18 @@ void state_set_spickle(uint8_t side, uint8_t flags)
 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
@@ -184,29 +224,35 @@ uint8_t state_get_status(void)
 /* harvest cobs from area */
 static void state_do_harvest(uint8_t side)
 {
-	if (side == I2C_LEFT_SIDE)
-		state_status = I2C_COBBOARD_STATUS_LBUSY;
-	else
-		state_status = I2C_COBBOARD_STATUS_RBUSY;
+	uint8_t i = 0;
 
 	/* 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;
+
 	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 */
-	if (WAIT_COND_OR_TIMEOUT(state_cob_inside(), 750) == 0) {
-		if (state_no_cob_inside()) {
+	state_cob_partial = 0;
+	if (WAIT_COND_OR_TIMEOUT(state_cob_inside_enhanced(), 750) == 0) {
+		if (state_no_cob_inside() && state_cob_partial == 0) {
 			STMCH_DEBUG("no cob");
 			return;
 		}
+		else if (state_no_cob_inside() && state_cob_partial == 1)
+			goto cont;
+
 		STMCH_DEBUG("bad cob state");
 
 		/* while cob is not correctly placed try to extract
@@ -226,6 +272,9 @@ static void state_do_harvest(uint8_t side)
 			time_wait_ms(250);
 			shovel_down();
 			time_wait_ms(250);
+
+			if (EJECT(state_mode))
+				return;
 		}
 
 		STMCH_DEBUG("cob removed");
@@ -235,16 +284,20 @@ static void state_do_harvest(uint8_t side)
 		}
 	}
 
+ cont:
 	/* cob is inside, switch off roller */
 	cobroller_off(side);
 	cob_count ++;
 
+	state_debug_wait_key_pressed();
+
 	/* 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 */
@@ -256,11 +309,40 @@ static void state_do_harvest(uint8_t side)
 	/* store it */
 	shovel_up();
 
+	i = 0;
 	while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
 		STMCH_DEBUG("shovel blocked");
 		shovel_down();
+
+		if (i == 4)
+			break;
+
+		/* if eject command is received, force exit */
+		if (EJECT(state_mode))
+			return;
+
 		time_wait_ms(250);
 		shovel_up();
+		i ++;
+	}
+
+	/* bad state, try to eject to cobs */
+	if (i == 4) {
+		servo_door_open();
+		shovel_mid();
+
+		while (WAIT_COND_OR_TIMEOUT(shovel_is_mid(), 600) == 0) {
+			STMCH_DEBUG("ejecting cobs");
+
+			shovel_down();
+			time_wait_ms(250);
+			if (state_no_cob_inside()) {
+				servo_door_close();
+				cob_count = 0;
+				return;
+			}
+			shovel_mid();
+		}
 	}
 
 	state_debug_wait_key_pressed();
@@ -306,29 +388,51 @@ void state_machine(void)
 
 		/* init */
 		if (INIT(state_mode)) {
-			state_mode &= (~I2C_COBBOARD_MODE_INIT);
 			state_init();
+			state_mode = I2C_COBBOARD_MODE_HARVEST;
+		}
+
+		if (HARVEST(state_mode)) {
+			/* init for each loop */
+			shovel_down();
+			servo_carry_close();
+			servo_door_close();
+
+			/* 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 not many cobs */
+			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);
+			}
+		}
+
+		/* help to climb the hill */
+		if (KICKSTAND_UP(state_mode)) {
+			state_status = I2C_COBBOARD_STATUS_KICKSTAND_UP;
+			servo_carry_open();
+			servo_door_open();
+			shovel_kickstand_up();
 		}
 
-		/* 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 (cob_count < 5) {
-			if ((lspickle & I2C_COBBOARD_SPK_DEPLOY) &&
-			    (lspickle & I2C_COBBOARD_SPK_DEPLOY))
-				state_do_harvest(I2C_LEFT_SIDE);
-			if ((rspickle & I2C_COBBOARD_SPK_DEPLOY) &&
-			    (rspickle & I2C_COBBOARD_SPK_DEPLOY))
-				state_do_harvest(I2C_RIGHT_SIDE);
+		if (KICKSTAND_DOWN(state_mode)) {
+			state_status = I2C_COBBOARD_STATUS_KICKSTAND_DOWN;
+			servo_carry_open();
+			servo_door_open();
+			shovel_kickstand_down();
 		}
 
 		/* eject */
 		if (EJECT(state_mode)) {
-			state_mode &= (~I2C_COBBOARD_MODE_EJECT);
+			state_mode = I2C_COBBOARD_MODE_HARVEST;
 			state_do_eject();
 		}
 	}