cobboard updated

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 4606540..cebcd2a 100644 (file)
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -46,6 +46,7 @@
 #include "actuator.h"
 
 #define COBROLLER_SPEED 800
 #include "actuator.h"
 
 #define COBROLLER_SPEED 800

+//#define COBROLLER_SPEED 400

 
 #define SERVO_DOOR_OPEN 250
 #define SERVO_DOOR_CLOSED 470
 
 #define SERVO_DOOR_OPEN 250
 #define SERVO_DOOR_CLOSED 470

diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c
index eb77cba..888d15a 100644 (file)
--- a/projects/microb2010/cobboard/commands_cobboard.c
+++ b/projects/microb2010/cobboard/commands_cobboard.c
@@ -53,8 +53,6 @@
 #include "spickle.h"
 #include "shovel.h"
 
 #include "spickle.h"
 #include "shovel.h"
 

-extern uint16_t state_debug;
-

 struct cmd_event_result {
        fixed_string_t arg0;
        fixed_string_t arg1;
 struct cmd_event_result {
        fixed_string_t arg0;
        fixed_string_t arg1;


@@ -68,7 +66,7 @@ static void cmd_event_parsed(void *parsed_result, __attribute__((unused)) void *
        u08 bit=0;
 
        struct cmd_event_result * res = parsed_result;
        u08 bit=0;
 
        struct cmd_event_result * res = parsed_result;

-       
+

        if (!strcmp_P(res->arg1, PSTR("all"))) {
                bit = DO_ENCODERS | DO_CS | DO_BD | DO_POWER;
                if (!strcmp_P(res->arg2, PSTR("on")))
        if (!strcmp_P(res->arg1, PSTR("all"))) {
                bit = DO_ENCODERS | DO_CS | DO_BD | DO_POWER;
                if (!strcmp_P(res->arg2, PSTR("on")))


@@ -374,7 +372,7 @@ prog_char str_state_debug_arg0[] = "state_debug";
 parse_pgm_token_string_t cmd_state_debug_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state_debug_result, arg0, str_state_debug_arg0);
 parse_pgm_token_num_t cmd_state_debug_on = TOKEN_NUM_INITIALIZER(struct cmd_state_debug_result, on, UINT8);
 
 parse_pgm_token_string_t cmd_state_debug_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state_debug_result, arg0, str_state_debug_arg0);
 parse_pgm_token_num_t cmd_state_debug_on = TOKEN_NUM_INITIALIZER(struct cmd_state_debug_result, on, UINT8);
 

-prog_char help_state_debug[] = "Set debug timer for state machine";
+prog_char help_state_debug[] = "Set debug for state machine";

 parse_pgm_inst_t cmd_state_debug = {
        .f = cmd_state_debug_parsed,  /* function to call */
        .data = NULL,      /* 2nd arg of func */
 parse_pgm_inst_t cmd_state_debug = {
        .f = cmd_state_debug_parsed,  /* function to call */
        .data = NULL,      /* 2nd arg of func */

diff --git a/projects/microb2010/cobboard/i2c_protocol.c b/projects/microb2010/cobboard/i2c_protocol.c
index 77846d0..9de2d4c 100644 (file)
--- a/projects/microb2010/cobboard/i2c_protocol.c
+++ b/projects/microb2010/cobboard/i2c_protocol.c
@@ -113,21 +113,21 @@ static int8_t i2c_set_mode(struct i2c_cmd_cobboard_set_mode *cmd)
 void i2c_recvevent(uint8_t * buf, int8_t size)
 {
        void *void_cmd = buf;
 void i2c_recvevent(uint8_t * buf, int8_t size)
 {
        void *void_cmd = buf;

-       
+

        static uint8_t a = 0;
        static uint8_t a = 0;

-       
+

        a++;
        if (a & 0x10)
                LED2_TOGGLE();
        a++;
        if (a & 0x10)
                LED2_TOGGLE();

-       
+

        if (size <= 0) {
                goto error;
        }
        if (size <= 0) {
                goto error;
        }

-       
+

        switch (buf[0]) {
 
        /* Commands (no answer needed) */
        switch (buf[0]) {
 
        /* Commands (no answer needed) */

-       case I2C_CMD_GENERIC_LED_CONTROL: 
+       case I2C_CMD_GENERIC_LED_CONTROL:

                {
                        struct i2c_cmd_led_control *cmd = void_cmd;
                        if (size != sizeof (*cmd))
                {
                        struct i2c_cmd_led_control *cmd = void_cmd;
                        if (size != sizeof (*cmd))


@@ -135,7 +135,7 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
                        i2c_led_control(cmd->led_num, cmd->state);
                        break;
                }
                        i2c_led_control(cmd->led_num, cmd->state);
                        break;
                }

-               
+

        case I2C_CMD_COBBOARD_SET_MODE:
                {
                        struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
        case I2C_CMD_COBBOARD_SET_MODE:
                {
                        struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;

diff --git a/projects/microb2010/cobboard/main.c b/projects/microb2010/cobboard/main.c
index 8ba5d52..39318d9 100755 (executable)
--- a/projects/microb2010/cobboard/main.c
+++ b/projects/microb2010/cobboard/main.c
@@ -253,7 +253,7 @@ int main(void)
        spickle_init();
        shovel_init();
 
        spickle_init();
        shovel_init();
 

-/*     state_init(); */
+       state_init();

 
        printf_P(PSTR("\r\n"));
        printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
 
        printf_P(PSTR("\r\n"));
        printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));


@@ -263,7 +263,7 @@ int main(void)
        gen.log_level = 5;
        cobboard.flags |= DO_CS;
 
        gen.log_level = 5;
        cobboard.flags |= DO_CS;
 

-/*     state_machine(); */
+       state_machine();

        cmdline_interact();
 
        return 0;
        cmdline_interact();
 
        return 0;

diff --git a/projects/microb2010/cobboard/main.h b/projects/microb2010/cobboard/main.h
index dce4825..a0dbac8 100755 (executable)
--- a/projects/microb2010/cobboard/main.h
+++ b/projects/microb2010/cobboard/main.h
@@ -50,6 +50,8 @@
 #define RIGHT_SPICKLE_ENCODER  ((void *)1)
 #define SHOVEL_ENCODER         ((void *)2)
 
 #define RIGHT_SPICKLE_ENCODER  ((void *)1)
 #define SHOVEL_ENCODER         ((void *)2)
 

+#define SERVO_DOOR_PWM         ((void *)&gen.servo2)
+

 #define LEFT_SPICKLE_PWM       ((void *)&gen.pwm1_4A)
 #define RIGHT_SPICKLE_PWM      ((void *)&gen.pwm2_4B)
 #define SHOVEL_PWM             ((void *)&gen.pwm3_1A)
 #define LEFT_SPICKLE_PWM       ((void *)&gen.pwm1_4A)
 #define RIGHT_SPICKLE_PWM      ((void *)&gen.pwm2_4B)
 #define SHOVEL_PWM             ((void *)&gen.pwm3_1A)

diff --git a/projects/microb2010/cobboard/shovel.h b/projects/microb2010/cobboard/shovel.h
index 1f2e53b..7ba8445 100644 (file)
--- a/projects/microb2010/cobboard/shovel.h
+++ b/projects/microb2010/cobboard/shovel.h
@@ -23,7 +23,7 @@
 #define _SHOVEL_H_
 
 #define SHOVEL_DOWN 100
 #define _SHOVEL_H_
 
 #define SHOVEL_DOWN 100

-#define SHOVEL_MID  4000
+#define SHOVEL_MID  6000

 #define SHOVEL_UP   10000
 
 void shovel_init(void);
 #define SHOVEL_UP   10000
 
 void shovel_init(void);

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 8e8affc..2903a4a 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -139,6 +139,7 @@ static uint8_t state_want_exit(void)
                return 0;
        if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
                return 1;
                return 0;
        if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
                return 1;

+       printf_P(PSTR("CTRL-C\r\n"));

        return 0;
 }
 
        return 0;
 }
 


@@ -155,7 +156,7 @@ static void state_do_harvest(uint8_t side)
        /* if there is no cob, return */
        if (state_cob_present(side))
                return;
        /* 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)
                return;
        /* if it is black, nothing to do */
        if (state_cob_color(side) == I2C_COB_BLACK)
                return;


@@ -163,6 +164,9 @@ static void state_do_harvest(uint8_t side)
        /* eat the cob */
        spickle_pack(side);
        state_debug_wait_key_pressed();
        /* eat the cob */
        spickle_pack(side);
        state_debug_wait_key_pressed();

+       /* xxx */
+       time_wait_ms(250);
+       left_cobroller_on();

        delay = spickle_get_pack_delay(side);
        time_wait_ms(delay);
 
        delay = spickle_get_pack_delay(side);
        time_wait_ms(delay);
 


@@ -177,7 +181,9 @@ static void state_do_harvest(uint8_t side)
        wait_ms(200);
        state_debug_wait_key_pressed();
        shovel_down();
        wait_ms(200);
        state_debug_wait_key_pressed();
        shovel_down();

+       left_cobroller_off();

        state_debug_wait_key_pressed();
        state_debug_wait_key_pressed();

+       time_wait_ms(500);

 }
 
 /* eject cobs */
 }
 
 /* eject cobs */


@@ -205,7 +211,8 @@ void state_machine(void)
                /* pack/deply spickles, enable/disable roller */
                if (L_DEPLOY(state_mode)) {
                        spickle_deploy(I2C_LEFT_SIDE);
                /* pack/deply spickles, enable/disable roller */
                if (L_DEPLOY(state_mode)) {
                        spickle_deploy(I2C_LEFT_SIDE);

-                       left_cobroller_on();
+                       //left_cobroller_on();
+                       left_cobroller_off();

                }
                else {
                        spickle_pack(I2C_LEFT_SIDE);
                }
                else {
                        spickle_pack(I2C_LEFT_SIDE);

diff --git a/projects/microb2010/cobboard/state.h b/projects/microb2010/cobboard/state.h
index 118926a..8dcb6c1 100644 (file)
--- a/projects/microb2010/cobboard/state.h
+++ b/projects/microb2010/cobboard/state.h
@@ -35,4 +35,6 @@ void state_machine(void);
 
 void state_init(void);
 
 
 void state_init(void);
 

+extern uint8_t state_debug;
+

 #endif
 #endif