ballboard: ramp on roller, and maybe fix race on state machine

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index cf122e60188d486fec51a9b5a1577d17e50ca588..f6edc88529a668d1cfb649cb5c3736b7afece9fe 100644 (file)
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -122,8 +122,14 @@ void microb_cs_init(void)
        pid_set_out_shift(&ballboard.roller.pid, 6);
        pid_set_derivate_filter(&ballboard.roller.pid, 6);
 
+       /* QUADRAMP (used as a ramp filter) */
+       quadramp_init(&ballboard.roller.qr);
+       quadramp_set_1st_order_vars(&ballboard.roller.qr, 20, 20);
+       quadramp_set_2nd_order_vars(&ballboard.roller.qr, 0, 0);
+
        /* CS */
        cs_init(&ballboard.roller.cs);
+       cs_set_consign_filter(&ballboard.roller.cs, quadramp_do_filter, &ballboard.roller.qr);
        cs_set_correct_filter(&ballboard.roller.cs, pid_do_filter, &ballboard.roller.pid);
        cs_set_process_in(&ballboard.roller.cs, pwm_ng_set, ROLLER_PWM);
        cs_set_process_out(&ballboard.roller.cs, encoders_spi_update_roller_speed, ROLLER_ENCODER);

diff --git a/projects/microb2010/ballboard/state.c b/projects/microb2010/ballboard/state.c
index 57d44ff6a0e924a0099ffb29e9463f0bc1b48c63..08c104d96340244586958f9c73e6b4f6b8e5cd28 100644 (file)
--- a/projects/microb2010/ballboard/state.c
+++ b/projects/microb2010/ballboard/state.c
@@ -144,8 +144,15 @@ static void state_do_eject(void)
 /* main state machine */
 void state_machine(void)
 {
+       uint8_t mode = 0;
+
        while (state_want_exit() == 0) {
 
+               if (state_mode != mode) {
+                       mode = state_mode;
+                       STMCH_DEBUG("%s(): mode=%x ", __FUNCTION__, mode);
+               }
+
                switch (state_mode) {
 
                case INIT:

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index ea846693ad4f5073b29201e78097128654811c2c..423b0f7839dab668170ecac697357342ed876a13 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -121,7 +121,6 @@ void strat_init(void)
                DO_POS | DO_BD | DO_TIMER | DO_POWER;
 }
 
-
 /* call it after each strat */
 void strat_exit(void)
 {
@@ -209,6 +208,41 @@ void strat_event(void *dummy)
        strat_limit_speed();
 }
 
+
+static uint8_t strat_harvest(void)
+{
+       return 0;
+}
+
+static uint8_t strat_eject(void)
+{
+       trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+       err = wait_traj_end(END_INTR|END_TRAJ);
+
+       DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+       strat_hardstop();
+       strat_set_speed(600, SPEED_ANGLE_FAST);
+
+       /* ball ejection */
+       trajectory_a_abs(&mainboard.traj, COLOR_A(90));
+       i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+       time_wait_ms(2000);
+
+       /* half turn */
+       i2c_cobboard_pack(I2C_LEFT_SIDE);
+       i2c_cobboard_pack(I2C_RIGHT_SIDE);
+       trajectory_a_rel(&mainboard.traj, COLOR_A(180));
+       err = wait_traj_end(END_INTR|END_TRAJ);
+
+       /* cob ejection */
+       trajectory_d_rel(&mainboard.traj, -100);
+       err = wait_traj_end(END_INTR|END_TRAJ);
+       i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+       time_wait_ms(2000);
+
+       return 0;
+}
+
 static uint8_t strat_beginning(void)
 {
        uint8_t err;
@@ -221,7 +255,6 @@ static uint8_t strat_beginning(void)
        strat_set_speed(250, SPEED_ANGLE_FAST);
 #endif
 
-
        // strat_set_speed(600, 60); /* OK */
        strat_set_speed(250, 28); /* OK */
 
@@ -256,11 +289,6 @@ static uint8_t strat_beginning(void)
                goto l2;
        }
 
-       WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
-                             TRAJ_FLAGS_STD);
-       trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
-       err = wait_traj_end(END_INTR|END_TRAJ);
-
 #else
        strat_set_speed(600, SPEED_ANGLE_FAST);
        err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
@@ -277,26 +305,7 @@ static uint8_t strat_beginning(void)
        return END_TRAJ;
 #endif
 
-       DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
-       strat_hardstop();
-       strat_set_speed(600, SPEED_ANGLE_FAST);
-
-       /* ball ejection */
-       trajectory_a_abs(&mainboard.traj, COLOR_A(90));
-       i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
-       time_wait_ms(2000);
-
-       /* half turn */
-       i2c_cobboard_pack(I2C_LEFT_SIDE);
-       i2c_cobboard_pack(I2C_RIGHT_SIDE);
-       trajectory_a_rel(&mainboard.traj, COLOR_A(180));
-       err = wait_traj_end(END_INTR|END_TRAJ);
-
-       /* cob ejection */
-       trajectory_d_rel(&mainboard.traj, -100);
-       err = wait_traj_end(END_INTR|END_TRAJ);
-       i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
-       time_wait_ms(2000);
+       strat_eject();
 
        strat_set_speed(250, SPEED_ANGLE_FAST);
 
@@ -330,29 +339,7 @@ static uint8_t strat_beginning(void)
 
        WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
                              TRAJ_FLAGS_STD);
-       trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
-       err = wait_traj_end(END_INTR|END_TRAJ);
-
-       DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
-       strat_hardstop();
-       strat_set_speed(600, SPEED_ANGLE_FAST);
-
-       /* ball ejection */
-       trajectory_a_abs(&mainboard.traj, COLOR_A(90));
-       i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
-       time_wait_ms(2000);
-
-       /* half turn */
-       i2c_cobboard_pack(I2C_LEFT_SIDE);
-       i2c_cobboard_pack(I2C_RIGHT_SIDE);
-       trajectory_a_rel(&mainboard.traj, COLOR_A(180));
-       err = wait_traj_end(END_INTR|END_TRAJ);
-
-       /* cob ejection */
-       trajectory_d_rel(&mainboard.traj, -100);
-       err = wait_traj_end(END_INTR|END_TRAJ);
-       i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
-       time_wait_ms(2000);
+       strat_eject();
 
        return END_TRAJ;
 }
@@ -390,16 +377,6 @@ static uint8_t need_more_elements(void)
        }
 }
 
-static uint8_t strat_harvest(void)
-{
-       return 0;
-}
-
-static uint8_t strat_eject(void)
-{
-       return 0;
-}
-
 uint8_t strat_main(void)
 {
        uint8_t err;