X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=e315da0f1171ad07681f81c52fc95fe24a4e9ad9;hp=d310168dab210cbf05fc7f4601785d8638a68e2d;hb=aa68be2d5d596693bda1109e4ccd6489f613b4f7;hpb=78150017ab8c5615af414df706a0525fe7c262ae diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c index d310168..e315da0 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 +96,79 @@ static uint8_t state_no_cob_inside(void) !sensor_get(S_COB_INSIDE_R); } +static uint8_t state_spicklemode_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 state_spicklemode_autoharvest(uint8_t side) +{ + if (side == I2C_LEFT_SIDE) + return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST; + else + 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) { - 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)) + /* 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); } +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 +200,21 @@ 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 */ @@ -216,12 +255,15 @@ static void state_do_harvest(uint8_t side) 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 */ @@ -283,8 +325,8 @@ void state_machine(void) /* init */ if (INIT(state_mode)) { - state_mode &= (~I2C_COBBOARD_MODE_INIT); state_init(); + state_mode = I2C_COBBOARD_MODE_HARVEST; } /* pack/deply spickles, enable/disable roller */ @@ -295,19 +337,23 @@ void state_machine(void) /* harvest */ if (cob_count < 5) { - if (L_DEPLOY(state_mode) && L_HARVEST(state_mode)) + 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); - if (R_DEPLOY(state_mode) && R_HARVEST(state_mode)) + 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_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 +366,5 @@ 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; }