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authorNicolas Haller2009-05-09 00:10:02 +0200
committerNicolas Haller2009-05-09 00:10:02 +0200
commit1901265a3ea59267f92fe2e923184fce3d689f72 (patch)
tree8bde763d75ea36d38a3cc5f837c2ac9afdc44183 /digital/io/src
parentb6f7c17b8effd931a4287a1eb4e648c062b7c341 (diff)
* digital/io/src:
- First version of init FSM
Diffstat (limited to 'digital/io/src')
-rw-r--r--digital/io/src/Makefile2
-rw-r--r--digital/io/src/asserv.c4
-rw-r--r--digital/io/src/asserv.h2
-rw-r--r--digital/io/src/fsm.h1
-rw-r--r--digital/io/src/init.c25
-rw-r--r--digital/io/src/init.fsm73
-rw-r--r--digital/io/src/init.h31
-rw-r--r--digital/io/src/init_cb.c143
-rw-r--r--digital/io/src/main.c55
-rw-r--r--digital/io/src/main.h6
10 files changed, 332 insertions, 10 deletions
diff --git a/digital/io/src/Makefile b/digital/io/src/Makefile
index 48511605..df2d6502 100644
--- a/digital/io/src/Makefile
+++ b/digital/io/src/Makefile
@@ -16,6 +16,6 @@ AVR_MCU = atmega128
OPTIMIZE = -O2
# FSMs.
-FSM_SOURCES := top move filterbridge elevator cylinder
+FSM_SOURCES := top move filterbridge elevator cylinder init
# Include FSM makefile.
include $(BASE)/make/Makefile.fsm
diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c
index c9594d3d..bc973ec4 100644
--- a/digital/io/src/asserv.c
+++ b/digital/io/src/asserv.c
@@ -453,10 +453,10 @@ asserv_goto_xya (uint32_t x, uint32_t y, int16_t a)
/* Go to the wall (moving backward). */
void
-asserv_go_to_the_wall (void)
+asserv_go_to_the_wall (uint8_t backward)
{
/* Put direction as parameters */
- asserv_twi_buffer_param[0] = 1;
+ asserv_twi_buffer_param[0] = backward;
/* Send the go the wall command to the asserv board */
asserv_twi_send_command ('f', 1);
}
diff --git a/digital/io/src/asserv.h b/digital/io/src/asserv.h
index 52cd0440..17b396da 100644
--- a/digital/io/src/asserv.h
+++ b/digital/io/src/asserv.h
@@ -227,7 +227,7 @@ asserv_goto_xya (uint32_t x, uint32_t y, int16_t a);
* Move class command.
*/
void
-asserv_go_to_the_wall (void);
+asserv_go_to_the_wall (uint8_t backward);
/**
* Move forward to approach a distributor.
diff --git a/digital/io/src/fsm.h b/digital/io/src/fsm.h
index cf5ce15e..e08605fe 100644
--- a/digital/io/src/fsm.h
+++ b/digital/io/src/fsm.h
@@ -112,5 +112,6 @@ fsm_handle_event (fsm_t *fsm, u8 event);
#include "filterbridge_fsm.h"
#include "elevator_fsm.h"
#include "cylinder_fsm.h"
+#include "init_fsm.h"
#endif /* fsm_h */
diff --git a/digital/io/src/init.c b/digital/io/src/init.c
new file mode 100644
index 00000000..7b0e584c
--- /dev/null
+++ b/digital/io/src/init.c
@@ -0,0 +1,25 @@
+/* init.c */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2009 Nicolas Haller
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "init.h"
diff --git a/digital/io/src/init.fsm b/digital/io/src/init.fsm
new file mode 100644
index 00000000..db69e15c
--- /dev/null
+++ b/digital/io/src/init.fsm
@@ -0,0 +1,73 @@
+# init FSM
+# This FSM set the position of the bot with some move on wall
+# This FSM is required because the meca team is "relou"
+init
+ init FSM with setup move
+
+States:
+ IDLE
+ waiting for the beginning of the top FSM
+ WAIT_JACK_IN
+ waiting for the jack to be inserted into the bot
+ WAIT_2_SEC
+ waiting for operator's hand not on jack anymore
+ GOTO_THE_WALL
+ go to the wall for the first time
+ GO_BACKWARD
+ go backward for INIT_DIST millimeters
+ TURN_90_DEGREES_CCW
+ turn bot for 90 degrees counterclockwise
+ GOTO_THE_WALL_AGAIN
+ go to the wall for the second time
+ GO_BACKWARD_AGAIN
+ go backward for INIT_DIST millimeters again
+ TURN_180_DEGREES_CCW
+ turn bot for 180 degrees counterclockwise
+ SET_POSITION
+ tell the truth to asserv
+
+Events:
+ start
+ initialize the FSM
+ jack_inserted_into_bot
+ the jack is inserted into the bot
+ init_tempo_ended
+ the tempo is finished
+ move_done
+ the move is finished
+
+IDLE:
+ start -> WAIT_JACK_IN
+ wait for the jack to be inserted into the bot
+
+WAIT_JACK_IN:
+ jack_inserted_into_bot -> WAIT_2_SEC
+ wait for the operator hand disappears
+
+WAIT_2_SEC:
+ init_tempo_ended -> GOTO_THE_WALL
+ go to the first wall
+
+GOTO_THE_WALL:
+ move_done -> GO_BACKWARD
+ go backward for INIT_DIST millimeters
+
+GO_BACKWARD:
+ move_done -> TURN_90_DEGREES_CCW
+ turn bot for 90 degrees counterclockwise
+
+TURN_90_DEGREES_CCW:
+ move_done -> GOTO_THE_WALL_AGAIN
+ go to the wall for the second time
+
+GOTO_THE_WALL_AGAIN:
+ move_done -> GO_BACKWARD_AGAIN
+ go backward for INIT_DIST millimeters again
+
+GO_BACKWARD_AGAIN:
+ move_done -> TURN_180_DEGREES_CCW
+ turn bot for 180 degrees counterclockwise
+
+TURN_180_DEGREES_CCW:
+ move_done -> SET_POSITION
+ set real position to asserv
diff --git a/digital/io/src/init.h b/digital/io/src/init.h
new file mode 100644
index 00000000..6ce25300
--- /dev/null
+++ b/digital/io/src/init.h
@@ -0,0 +1,31 @@
+#ifndef init_h
+#define init_h
+/* init.h */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2009 Nicolas Haller
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+/* INIT_DIST is the distance the bot move backward during init FSM*/
+#define INIT_DIST 150
+
+#endif /* init_h */
diff --git a/digital/io/src/init_cb.c b/digital/io/src/init_cb.c
new file mode 100644
index 00000000..f05a5fef
--- /dev/null
+++ b/digital/io/src/init_cb.c
@@ -0,0 +1,143 @@
+/* init_cb.c - init FSM callbacks. */
+/* {{{
+ *
+ * Copyright (C) 2009 Nicolas Haller
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "common.h"
+#include "fsm.h"
+#include "init_cb.h"
+#include "asserv.h"
+#include "init.h"
+#include "playground.h"
+#include "main.h"
+
+/*
+ * GOTO_THE_WALL_AGAIN =move_done=>
+ * => GO_BACKWARD_AGAIN
+ * go backward for INIT_DIST millimeters again
+ */
+fsm_branch_t
+init__GOTO_THE_WALL_AGAIN__move_done (void)
+{
+ asserv_move_linearly(-INIT_DIST);
+ return init_next (GOTO_THE_WALL_AGAIN, move_done);
+}
+
+/*
+ * TURN_180_DEGREES_CCW =move_done=>
+ * => SET_POSITION
+ * set real position to asserv
+ */
+fsm_branch_t
+init__TURN_180_DEGREES_CCW__move_done (void)
+{
+ /* FIXME Value from spa^W marcel */
+ asserv_set_position(300, PG_HEIGHT - 305, 0);
+ return init_next (TURN_180_DEGREES_CCW, move_done);
+}
+
+/*
+ * IDLE =start=>
+ * => WAIT_JACK_IN
+ * wait for the jack to be inserted into the bot
+ */
+fsm_branch_t
+init__IDLE__start (void)
+{
+ return init_next (IDLE, start);
+}
+
+/*
+ * TURN_90_DEGREES_CCW =move_done=>
+ * => GOTO_THE_WALL_AGAIN
+ * go to the wall for the second time
+ */
+fsm_branch_t
+init__TURN_90_DEGREES_CCW__move_done (void)
+{
+ asserv_go_to_the_wall(0);
+ return init_next (TURN_90_DEGREES_CCW, move_done);
+}
+
+/*
+ * GO_BACKWARD =move_done=>
+ * => TURN_90_DEGREES_CCW
+ * turn bot for 90 degrees counterclockwise
+ */
+fsm_branch_t
+init__GO_BACKWARD__move_done (void)
+{
+ asserv_move_angularly(90);
+ return init_next (GO_BACKWARD, move_done);
+}
+
+/*
+ * GOTO_THE_WALL =move_done=>
+ * => GO_BACKWARD
+ * go backward for INIT_DIST millimeters
+ */
+fsm_branch_t
+init__GOTO_THE_WALL__move_done (void)
+{
+ asserv_move_linearly(-INIT_DIST);
+ return init_next (GOTO_THE_WALL, move_done);
+}
+
+/*
+ * WAIT_JACK_IN =jack_inserted_into_bot=>
+ * => WAIT_2_SEC
+ * wait for the operator hand disappears
+ */
+fsm_branch_t
+init__WAIT_JACK_IN__jack_inserted_into_bot (void)
+{
+ /* launch the timer (2 sec)*/
+ main_init_wait_cycle = 450;
+ return init_next (WAIT_JACK_IN, jack_inserted_into_bot);
+}
+
+/*
+ * WAIT_2_SEC =init_tempo_ended=>
+ * => GOTO_THE_WALL
+ * go to the first wall
+ */
+fsm_branch_t
+init__WAIT_2_SEC__init_tempo_ended (void)
+{
+ /* tell asserv to go FORWARD to the wall */
+ asserv_go_to_the_wall(0);
+ return init_next (WAIT_2_SEC, init_tempo_ended);
+}
+
+/*
+ * GO_BACKWARD_AGAIN =move_done=>
+ * => TURN_180_DEGREES_CCW
+ * turn bot for 180 degrees counterclockwise
+ */
+fsm_branch_t
+init__GO_BACKWARD_AGAIN__move_done (void)
+{
+ asserv_move_angularly(180);
+ return init_next (GO_BACKWARD_AGAIN, move_done);
+}
+
+
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index 13b02353..c3f85770 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -89,6 +89,11 @@ uint8_t main_always_stop_for_obstacle = 1;
uint16_t main_move_wait_cycle;
/**
+ * The same for init FSM
+ */
+uint16_t main_init_wait_cycle;
+
+/**
* Sharps stats counters.
*/
uint8_t main_stats_sharps, main_stats_sharps_cpt;
@@ -137,10 +142,18 @@ main_init (void)
/* Path module */
path_init (PG_BORDER_DISTANCE, PG_BORDER_DISTANCE,
PG_WIDTH - PG_BORDER_DISTANCE, PG_HEIGHT - PG_BORDER_DISTANCE);
- /* Start the top FSM */
- //top_start ();
+ /* Init all FSM (except move FSM) */
fsm_init(&top_fsm);
+ fsm_init(&init_fsm);
+ fsm_init(&cylinder_fsm);
+ fsm_init(&elevator_fsm);
+ fsm_init(&filterbridge_fsm);
+ /* Start all FSM (except move FSM) */
fsm_handle_event (&top_fsm, TOP_EVENT_start);
+ fsm_handle_event (&init_fsm, INIT_EVENT_start);
+ /* fsm_handle_event (&top_fsm, TOP_EVENT_start);
+ fsm_handle_event (&top_fsm, TOP_EVENT_start);
+ fsm_handle_event (&top_fsm, TOP_EVENT_start); */
/* Sharp module */
sharp_init ();
/* PWM module */
@@ -249,6 +262,8 @@ main_loop (void)
/* Pass it to all the FSM that need it */
FSM_HANDLE_EVENT (&move_fsm,
MOVE_EVENT_bot_move_succeed);
+ FSM_HANDLE_EVENT (&init_fsm,
+ INIT_EVENT_move_done);
}
else if (move_status == failure)
{
@@ -257,9 +272,26 @@ main_loop (void)
MOVE_EVENT_bot_move_failed);
}
/* Jack */
+ if(switch_get_jack())
+ {
+ FSM_HANDLE_EVENT (&top_fsm,
+ TOP_EVENT_jack_removed_from_bot);
+ }
+ else
+ {
+ FSM_HANDLE_EVENT (&top_fsm,
+ TOP_EVENT_jack_inserted_into_bot);
+ FSM_HANDLE_EVENT (&init_fsm,
+ INIT_EVENT_jack_inserted_into_bot);
+ }
+ /*
FSM_HANDLE_EVENT (&top_fsm, switch_get_jack () ?
TOP_EVENT_jack_removed_from_bot :
TOP_EVENT_jack_inserted_into_bot);
+ FSM_HANDLE_EVENT (&init_fsm, switch_get_jack () ?
+ INIT_EVENT_jack_removed_from_bot :
+ INIT_EVENT_jack_inserted_into_bot);
+ */
/* Settings acknowledge */
/*
if (main_top_generate_settings_ack_event)
@@ -348,6 +380,11 @@ main_loop (void)
/* Reset stats counter */
main_stats_asserv_cpt_ = main_stats_asserv_;
}
+ /* Init FSM timer */
+ if(main_init_wait_cycle)
+ --main_init_wait_cycle;
+ if(!main_init_wait_cycle)
+ FSM_HANDLE_EVENT (&init_fsm, INIT_EVENT_init_tempo_ended);
}
}
@@ -507,10 +544,6 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Stop motor */
asserv_stop_motor ();
break;
- case 'f':
- /* Go to the wall */
- asserv_go_to_the_wall ();
- break;
case 'F':
/* Go to the distributor */
asserv_go_to_distributor ();
@@ -518,6 +551,16 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
}
}
break;
+ case c ('a', 2):
+ {
+ switch (args[0])
+ {
+ case 'f':
+ /* Go to the wall */
+ asserv_go_to_the_wall (args[1]);
+ break;
+ }
+ }
case c ('a', 3):
{
switch (args[0])
diff --git a/digital/io/src/main.h b/digital/io/src/main.h
index 1b09a9f8..06f2a669 100644
--- a/digital/io/src/main.h
+++ b/digital/io/src/main.h
@@ -57,6 +57,12 @@ extern uint16_t main_move_wait_cycle;
extern uint16_t main_getsamples_wait_cycle;
/**
+ * Post an event for the init loop to wait a certain amount of time before
+ * make any move
+ */
+extern uint16_t main_init_wait_cycle;
+
+/**
* Flag for homologation, to disable the path finding and always stop in front
* of an obstacle and wait.
*/