X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=d310168dab210cbf05fc7f4601785d8638a68e2d;hp=33084050186c3e0e9406288604d5c0dd3e98812a;hb=78150017ab8c5615af414df706a0525fe7c262ae;hpb=0c4732c1e255ea56aa766b772dfdb6be49620830

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 3308405..d310168 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 */
@@ -72,13 +73,6 @@ static uint8_t cob_count;
 
 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;
@@ -92,33 +86,31 @@ 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;
-	else
-		/* XXX */
-		//		return sensor_get(S_LCOB);
-		return 0;
+	return !sensor_get(S_COB_INSIDE_L) &&
+		!sensor_get(S_COB_INSIDE_R);
 }
 
-/* return true if the cob is correctly inside */
-static uint8_t state_cob_inside(void)
+/* pack/deploy spickles depending on mode */
+static void spickle_prepare(uint8_t side)
 {
-	return sensor_get(S_COB_INSIDE_L) &&
-		sensor_get(S_COB_INSIDE_R);
+	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
+		spickle_pack(side);
 }
 
 /* set a new state, return 0 on success */
@@ -126,6 +118,12 @@ int8_t state_set_mode(uint8_t mode)
 {
 	state_mode = 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), */
@@ -155,58 +153,117 @@ 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))
+	if (cob_falling_edge(side) == 0)
 		return;
 
-	/* if it is black, nothing to do */
-	if (state_cob_color(side) == I2C_COB_BLACK)
-		return;
+	STMCH_DEBUG("start");
 
 	/* eat the cob */
 	spickle_pack(side);
-	/* xxx */
+
 	time_wait_ms(250);
-	left_cobroller_on();
-	delay = spickle_get_pack_delay(side);
+	cobroller_on(side);
 
-	WAIT_COND_OR_TIMEOUT(state_cob_inside(), delay);
+	/* 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();
 
-	/* let the cob go */
+	/* let the loaded cobs go */
+	servo_door_block();
 	servo_carry_open();
-	wait_ms(300); /* XXX */
+	time_wait_ms(100);
 	state_debug_wait_key_pressed();
 
-	cob_count ++;
-
 	/* 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();
 
 	/* close the carry servos */
 	servo_carry_close();
-	wait_ms(300); /* XXX */
+	servo_door_close();
+	time_wait_ms(200);
 	state_debug_wait_key_pressed();
 
 	shovel_down();
-	left_cobroller_off();
-	state_debug_wait_key_pressed();
-	time_wait_ms(500);
+
+	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();
@@ -222,6 +279,8 @@ void state_machine(void)
 {
 	while (state_want_exit() == 0) {
 
+		state_status = I2C_COBBOARD_STATUS_READY;
+
 		/* init */
 		if (INIT(state_mode)) {
 			state_mode &= (~I2C_COBBOARD_MODE_INIT);
@@ -229,29 +288,18 @@ void state_machine(void)
 		}
 
 		/* 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 (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)) {
@@ -259,6 +307,7 @@ void state_machine(void)
 			state_do_eject();
 		}
 	}
+	state_status = I2C_COBBOARD_STATUS_READY;
 }
 
 void state_init(void)
@@ -271,4 +320,5 @@ void state_init(void)
 	spickle_pack(I2C_RIGHT_SIDE);
 	state_mode = 0;
 	cob_count = 0;
+	state_status = I2C_COBBOARD_STATUS_READY;
 }