cobboard: better actions + i2c

diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c
index dbbdd79..515f3d5 100644 (file)
--- a/projects/microb2010/cobboard/commands_cobboard.c
+++ b/projects/microb2010/cobboard/commands_cobboard.c
@@ -193,13 +193,17 @@ static void cmd_state1_parsed(void *parsed_result,
                state_init();
        else if (!strcmp_P(res->arg1, PSTR("eject")))
                state_set_mode(I2C_COBBOARD_MODE_EJECT);
                state_init();
        else if (!strcmp_P(res->arg1, PSTR("eject")))
                state_set_mode(I2C_COBBOARD_MODE_EJECT);

+       else if (!strcmp_P(res->arg1, PSTR("ignore_i2c")))
+               state_set_i2c_ignore(1);
+       else if (!strcmp_P(res->arg1, PSTR("care_i2c")))
+               state_set_i2c_ignore(0);

 
        /* other commands */
 }
 
 prog_char str_state1_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_state1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg0, str_state1_arg0);
 
        /* other commands */
 }
 
 prog_char str_state1_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_state1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg0, str_state1_arg0);

-prog_char str_state1_arg1[] = "init#eject";
+prog_char str_state1_arg1[] = "init#eject#ignore_i2c#care_i2c";

 parse_pgm_token_string_t cmd_state1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg1, str_state1_arg1);
 
 prog_char help_state1[] = "set cobboard mode";
 parse_pgm_token_string_t cmd_state1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg1, str_state1_arg1);
 
 prog_char help_state1[] = "set cobboard mode";

diff --git a/projects/microb2010/cobboard/cs.c b/projects/microb2010/cobboard/cs.c
index 0ed2f1a..7eb186e 100644 (file)
--- a/projects/microb2010/cobboard/cs.c
+++ b/projects/microb2010/cobboard/cs.c
@@ -78,9 +78,9 @@ static void do_cs(__attribute__((unused)) void *dummy)
                ls = (cobboard.left_spickle.prev - cobboard.left_spickle.cs.filtered_feedback_value);
                rs = (cobboard.right_spickle.prev - cobboard.right_spickle.cs.filtered_feedback_value);
                sh = (cobboard.shovel.prev - cobboard.shovel.cs.filtered_feedback_value);
                ls = (cobboard.left_spickle.prev - cobboard.left_spickle.cs.filtered_feedback_value);
                rs = (cobboard.right_spickle.prev - cobboard.right_spickle.cs.filtered_feedback_value);
                sh = (cobboard.shovel.prev - cobboard.shovel.cs.filtered_feedback_value);

-               if (ls < -2000 || ls > 2000 ||
-                   rs < -2000 || rs > 2000 ||
-                   sh < -2000 || sh > 2000) {
+               if (ls < -3000 || ls > 3000 ||
+                   rs < -3000 || rs > 3000 ||
+                   sh < -3000 || sh > 3000) {

                        printf_P(PSTR("left_spickle %ld "), ls);
                        printf_P(PSTR("right_spickle %ld "), rs);
                        printf_P(PSTR("shovel %ld "), sh);
                        printf_P(PSTR("left_spickle %ld "), ls);
                        printf_P(PSTR("right_spickle %ld "), rs);
                        printf_P(PSTR("shovel %ld "), sh);


@@ -196,7 +196,7 @@ void microb_cs_init(void)
 
        /* quadramp */
        quadramp_init(&cobboard.shovel.qr);
 
        /* quadramp */
        quadramp_init(&cobboard.shovel.qr);

-       quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2000); /* set speed */
+       quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500); /* set speed */

        quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
 
        /* CS */
        quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
 
        /* CS */

diff --git a/projects/microb2010/cobboard/i2c_protocol.c b/projects/microb2010/cobboard/i2c_protocol.c
index b7f13ee..21a9bd8 100644 (file)
--- a/projects/microb2010/cobboard/i2c_protocol.c
+++ b/projects/microb2010/cobboard/i2c_protocol.c
@@ -135,7 +135,8 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
                        struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
                        if (size != sizeof(struct i2c_cmd_cobboard_set_mode))
                                goto error;
                        struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
                        if (size != sizeof(struct i2c_cmd_cobboard_set_mode))
                                goto error;

-                       state_set_mode(cmd->mode);
+                       if (!state_get_i2c_ignore())
+                               state_set_mode(cmd->mode);

                        break;
                }
 
                        break;
                }
 


@@ -168,7 +169,8 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
                                goto error;
 
                        /* mode is in req */
                                goto error;
 
                        /* mode is in req */

-                       if (state_get_status() != I2C_COBBOARD_STATUS_OFF) {
+                       if (state_get_status() != I2C_COBBOARD_STATUS_OFF &&
+                           !state_get_i2c_ignore()) {

                                state_set_spickle(I2C_LEFT_SIDE, cmd->lspickle);
                                state_set_spickle(I2C_RIGHT_SIDE, cmd->rspickle);
                        }
                                state_set_spickle(I2C_LEFT_SIDE, cmd->lspickle);
                                state_set_spickle(I2C_RIGHT_SIDE, cmd->rspickle);
                        }

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 6d71e58..abf0c42 100644 (file)
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -42,6 +42,10 @@
 #include "main.h"
 #include "shovel.h"
 
 #include "main.h"
 #include "shovel.h"
 

+#define SHOVEL_DOWN 100
+#define SHOVEL_MID  4900
+#define SHOVEL_UP   10000
+

 /* init spickle position at beginning */
 static void shovel_autopos(void)
 {
 /* init spickle position at beginning */
 static void shovel_autopos(void)
 {


@@ -64,6 +68,24 @@ static uint8_t shovel_is_at_pos(int32_t pos)
        return 0;
 }
 
        return 0;
 }
 

+void shovel_down(void)
+{
+       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 80);
+       cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
+}
+
+void shovel_mid(void)
+{
+       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 80);
+       cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
+}
+
+void shovel_up(void)
+{
+       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 20);
+       cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
+}
+

 uint8_t shovel_is_up(void)
 {
        return shovel_is_at_pos(SHOVEL_UP);
 uint8_t shovel_is_up(void)
 {
        return shovel_is_at_pos(SHOVEL_UP);

diff --git a/projects/microb2010/cobboard/shovel.h b/projects/microb2010/cobboard/shovel.h
index 241b065..80bceec 100644 (file)
--- a/projects/microb2010/cobboard/shovel.h
+++ b/projects/microb2010/cobboard/shovel.h
@@ -22,26 +22,11 @@
 #ifndef _SHOVEL_H_
 #define _SHOVEL_H_
 
 #ifndef _SHOVEL_H_
 #define _SHOVEL_H_
 

-#define SHOVEL_DOWN 100
-#define SHOVEL_MID  4900
-#define SHOVEL_UP   10000
-

 void shovel_init(void);
 
 void shovel_init(void);
 

-static inline void shovel_down(void)
-{
-       cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
-}
-
-static inline void shovel_mid(void)
-{
-       cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
-}
-
-static inline void shovel_up(void)
-{
-       cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
-}
+void shovel_down(void);
+void shovel_mid(void);
+void shovel_up(void);

 
 uint8_t shovel_is_up(void);
 uint8_t shovel_is_down(void);
 
 uint8_t shovel_is_up(void);
 uint8_t shovel_is_down(void);

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 7a1f047..df0e4c6 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -59,12 +59,13 @@
 static struct vt100 local_vt100;
 static volatile uint8_t state_mode, lspickle, rspickle;
 static volatile uint8_t state_status;
 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 */
 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)

 
 uint8_t state_debug = 0;
 
 
 uint8_t state_debug = 0;
 


@@ -127,14 +128,16 @@ static void spickle_prepare(uint8_t side)
 void state_set_spickle(uint8_t side, uint8_t flags)
 {
        if (side == I2C_LEFT_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 {
                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);
                if (rspickle != 0 && flags == 0 &&
                    state_status != I2C_COBBOARD_STATUS_RBUSY)
                        spickle_prepare(I2C_RIGHT_SIDE);


@@ -146,13 +149,18 @@ void state_set_spickle(uint8_t side, uint8_t flags)
 int8_t state_set_mode(uint8_t mode)
 {
        state_mode = mode;
 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
 }
 
 /* check that state is the one in parameter and that state did not


@@ -184,15 +192,15 @@ uint8_t state_get_status(void)
 /* harvest cobs from area */
 static void state_do_harvest(uint8_t side)
 {
 /* 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 (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 */
        STMCH_DEBUG("start");
 
        /* eat the cob */


@@ -306,7 +314,7 @@ void state_machine(void)
 
                /* init */
                if (INIT(state_mode)) {
 
                /* init */
                if (INIT(state_mode)) {

-                       state_mode &= (~I2C_COBBOARD_MODE_INIT);
+                       state_mode = I2C_COBBOARD_MODE_HARVEST;

                        state_init();
                }
 
                        state_init();
                }
 


@@ -319,16 +327,16 @@ void state_machine(void)
                /* harvest */
                if (cob_count < 5) {
                        if ((lspickle & I2C_COBBOARD_SPK_DEPLOY) &&
                /* harvest */
                if (cob_count < 5) {
                        if ((lspickle & I2C_COBBOARD_SPK_DEPLOY) &&

-                           (lspickle & I2C_COBBOARD_SPK_DEPLOY))
+                           (lspickle & I2C_COBBOARD_SPK_AUTOHARVEST))

                                state_do_harvest(I2C_LEFT_SIDE);
                        if ((rspickle & I2C_COBBOARD_SPK_DEPLOY) &&
                                state_do_harvest(I2C_LEFT_SIDE);
                        if ((rspickle & I2C_COBBOARD_SPK_DEPLOY) &&

-                           (rspickle & I2C_COBBOARD_SPK_DEPLOY))
+                           (rspickle & I2C_COBBOARD_SPK_AUTOHARVEST))

                                state_do_harvest(I2C_RIGHT_SIDE);
                }
 
                /* eject */
                if (EJECT(state_mode)) {
                                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_do_eject();
                }
        }

diff --git a/projects/microb2010/cobboard/state.h b/projects/microb2010/cobboard/state.h
index 141b643..f3c90ed 100644 (file)
--- a/projects/microb2010/cobboard/state.h
+++ b/projects/microb2010/cobboard/state.h
@@ -30,6 +30,9 @@ void state_set_spickle(uint8_t side, uint8_t flags);
 uint8_t state_get_mode(void);
 uint8_t state_get_status(void);
 
 uint8_t state_get_mode(void);
 uint8_t state_get_status(void);
 

+void state_set_i2c_ignore(uint8_t val);
+uint8_t state_get_i2c_ignore(void);
+

 uint8_t state_get_cob_count(void);
 
 /* launch state machine */
 uint8_t state_get_cob_count(void);
 
 /* launch state machine */