From: Olivier Matz <zer0@droids-corp.org>
Date: Tue, 30 Mar 2010 20:02:37 +0000 (+0200)
Subject: state machine
X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=commitdiff_plain;h=c5092ef0e45256f7e5ff2ceea8e1aa1cb33027db

state machine
---

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 3217270..4606540 100644
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -47,7 +47,6 @@
 
 #define COBROLLER_SPEED 800
 
-#define SERVO_DOOR_PWM ((void *)&gen.servo2)
 #define SERVO_DOOR_OPEN 250
 #define SERVO_DOOR_CLOSED 470
 
diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 4c9651e..8e8affc 100644
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -118,11 +118,12 @@ static uint8_t state_cob_color(uint8_t side)
 int8_t state_set_mode(uint8_t mode)
 {
 	state_mode = mode;
-	/* XXX synchrounous pack here */
-	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));
+
+/* 	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)); */
+
 	return 0;
 }
 
@@ -184,8 +185,10 @@ static void state_do_eject(void)
 {
 	cob_count = 0;
 	shovel_mid();
+	servo_door_open();
 	time_wait_ms(2000);
 	shovel_down();
+	servo_door_close();
 }
 
 /* main state machine */
@@ -199,15 +202,23 @@ void state_machine(void)
 			state_init();
 		}
 
-		/* pack spickles */
-		if (L_DEPLOY(state_mode))
+		/* pack/deply spickles, enable/disable roller */
+		if (L_DEPLOY(state_mode)) {
 			spickle_deploy(I2C_LEFT_SIDE);
-		else
+			left_cobroller_on();
+		}
+		else {
 			spickle_pack(I2C_LEFT_SIDE);
-		if (R_DEPLOY(state_mode))
+			left_cobroller_off();
+		}
+		if (R_DEPLOY(state_mode)) {
 			spickle_deploy(I2C_RIGHT_SIDE);
-		else
+			right_cobroller_on();
+		}
+		else {
 			spickle_pack(I2C_RIGHT_SIDE);
+			right_cobroller_off();
+		}
 
 		/* harvest */
 		if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
@@ -227,6 +238,7 @@ void state_init(void)
 {
 	vt100_init(&local_vt100);
 	shovel_down();
+	servo_door_close();
 	spickle_pack(I2C_LEFT_SIDE);
 	spickle_pack(I2C_RIGHT_SIDE);
 	state_mode = 0;
diff --git a/projects/microb2010/common/i2c_commands.h b/projects/microb2010/common/i2c_commands.h
index fb4829f..d08e580 100644
--- a/projects/microb2010/common/i2c_commands.h
+++ b/projects/microb2010/common/i2c_commands.h
@@ -80,6 +80,21 @@ struct i2c_cmd_cobboard_set_mode {
 	uint8_t mode;
 };
 
+#define I2C_CMD_BALLBOARD_SET_MODE 0x10
+
+struct i2c_cmd_ballboard_set_mode {
+	struct i2c_cmd_hdr hdr;
+
+#define I2C_BALLBOARD_MODE_OFF         0x00
+#define I2C_BALLBOARD_MODE_HARVEST     0x01
+#define I2C_BALLBOARD_MODE_EJECT       0x02
+#define I2C_BALLBOARD_MODE_PREP_L_FORK 0x03
+#define I2C_BALLBOARD_MODE_TAKE_L_FORK 0x04
+#define I2C_BALLBOARD_MODE_PREP_R_FORK 0x05
+#define I2C_BALLBOARD_MODE_TAKE_R_FORK 0x06
+	uint8_t mode;
+};
+
 /****/
 /* requests and their answers */
 /****/