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authorNélio Laranjeiro2008-03-24 22:29:22 +0100
committerNélio Laranjeiro2008-03-24 22:29:22 +0100
commit689d78b5d4a57456152420b0e3f490480ad32b8f (patch)
tree962a143a91ec3920b35ad83878fbc8c86e7a512a /digital/io/src
parent77ecd139efe72b436654b9204a2aa2cdca1988d8 (diff)
Update the FSM for the getsamples.
Diffstat (limited to 'digital/io/src')
-rw-r--r--digital/io/src/getsamples/Makefile13
-rw-r--r--digital/io/src/getsamples/getSamplesFsm.conf2
-rw-r--r--digital/io/src/getsamples/getsamples_robo.h33
-rw-r--r--digital/io/src/getsamples/test/Makefile7
-rw-r--r--digital/io/src/getsamples/test/main.c81
-rw-r--r--digital/io/src/ia.c110
-rw-r--r--digital/io/src/ia.h54
7 files changed, 139 insertions, 161 deletions
diff --git a/digital/io/src/getsamples/Makefile b/digital/io/src/getsamples/Makefile
index 3cf5a03a..389adc71 100644
--- a/digital/io/src/getsamples/Makefile
+++ b/digital/io/src/getsamples/Makefile
@@ -1,10 +1,6 @@
CFLAGS = -O2 -Wall
-all: getSamplesFsm.fsm getSamplesFsm.conf
- make prgm
- make exe
- make dot
- make png
+all: prgm exe dot png
prgm: getSamplesFsm.fsm getSamplesFsm.conf
python ../../../../tools/dfagen/dfagen.py -o c -d $< -c getSamplesFsm.conf -p getsamples
@@ -20,4 +16,9 @@ png: getsamples.dot
dot -Tpng -o getsamples.png getsamples.dot
clean:
- rm -f getsamples*
+ rm -f getsamples.h
+ rm -f getsamples_cb.c
+ rm -f getsamples_cb.h
+ rm -f getsamples.dot
+ rm -f getsamples.png
+ rm -f getsamples.c
diff --git a/digital/io/src/getsamples/getSamplesFsm.conf b/digital/io/src/getsamples/getSamplesFsm.conf
index bae8f698..238c0f6f 100644
--- a/digital/io/src/getsamples/getSamplesFsm.conf
+++ b/digital/io/src/getsamples/getSamplesFsm.conf
@@ -1,5 +1,5 @@
[user]
type = getsamples_t
type-forward-decl = typedef struct getsamples_t getsamples_t;
-type-decl = struct getsamples_t { getsamples_state_t fsm; };
+type-decl = #include "getsamples_robo.h"
field = fsm
diff --git a/digital/io/src/getsamples/getsamples_robo.h b/digital/io/src/getsamples/getsamples_robo.h
new file mode 100644
index 00000000..d5ee6903
--- /dev/null
+++ b/digital/io/src/getsamples/getsamples_robo.h
@@ -0,0 +1,33 @@
+#ifndef getsamples_robo_h
+#define getsamples_robo_h
+/* getsamples_robo.h */
+/* {{{
+ *
+ * Copyright (C) 2008 Nélio Laranjeiro
+ *
+ * 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.
+ *
+ * }}} */
+
+struct getsamples_t
+{
+ getsamples_state_t fsm;
+};
+
+#endif /* getsamples_robo_h */
diff --git a/digital/io/src/getsamples/test/Makefile b/digital/io/src/getsamples/test/Makefile
new file mode 100644
index 00000000..ad659fdd
--- /dev/null
+++ b/digital/io/src/getsamples/test/Makefile
@@ -0,0 +1,7 @@
+BASE= ..
+
+all: main.c $(BASE)/getsamples.c $(BASE)/getsamples_cb.c
+ gcc -g -O2 -Wall main.c $(BASE)/getsamples.c $(BASE)/getsamples_cb.c -o fsm
+
+clean: fsm
+ rm -f fsm
diff --git a/digital/io/src/getsamples/test/main.c b/digital/io/src/getsamples/test/main.c
new file mode 100644
index 00000000..2bbfe6e6
--- /dev/null
+++ b/digital/io/src/getsamples/test/main.c
@@ -0,0 +1,81 @@
+/* main.c */
+/* {{{
+ *
+ * Copyright (C) 2008 Nélio Laranjeiro
+ *
+ * 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 "../getsamples.h"
+#include "../getsamples_robo.h"
+
+#include <stdio.h>
+
+void
+getsamples_print_test (getsamples_t *getsamples)
+{
+ printf ("Machine state ");
+
+ switch (getsamples->fsm)
+ {
+ case GETSAMPLES_STATE_PREPARE_ARM:
+ printf ("PREPARE_ARM");
+ break;
+ case GETSAMPLES_STATE_END:
+ printf ("END");
+ break;
+ case GETSAMPLES_STATE_FORWARD_CONTROL:
+ printf ("FORWARD CONTROL");
+ break;
+ case GETSAMPLES_STATE_TAKE_SAMPLES:
+ printf ("TAKE_SAMPLES");
+ break;
+ case GETSAMPLES_STATE_BACKWARD:
+ printf ("BACKWARD");
+ break;
+ case GETSAMPLES_STATE_GO_TO_POSITION:
+ printf ("GO TO POSITION");
+ break;
+ case GETSAMPLES_STATE_NB:
+ printf ("NB");
+ }
+ printf ("\n");
+}
+
+int
+main (void)
+{
+ getsamples_t getsamples_fsm;
+
+ getsamples_init (&getsamples_fsm);
+ getsamples_print_test (&getsamples_fsm);
+
+ getsamples_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_position_failed);
+
+ getsamples_print_test (&getsamples_fsm);
+
+ getsamples_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_position_reached);
+
+
+ getsamples_print_test (&getsamples_fsm);
+
+ return 0;
+}
diff --git a/digital/io/src/ia.c b/digital/io/src/ia.c
index 7ede1888..954459bc 100644
--- a/digital/io/src/ia.c
+++ b/digital/io/src/ia.c
@@ -35,114 +35,6 @@ ia_init (void)
{
ia_global.sequence = false;
ia_global.ice_status_our = false;
+ ia_global.team_color = TEAM_COLOR_RED;
}
-/** Load balls procedure from a distributor.
- *
- * 1. Rotate the arm to the desired position to allow the robot to load x
- * balls.
- * 2. Go backward, this will allow the robot to continue rotating the arm and
- * load the balls.
- * 3. Stop the arm and put it to its initial position to disallow the robot
- * to take undesired balls.
- *
- * See trunk/digital/io/doc/loadballs.png (use the make command before)
- *
- * \param balls_nb the quantity of ball to load.
- */
-void
-ia_load_samples (uint8_t balls_nb)
-{
- /* Start the rotation of the arm */
- asserv_move_arm (ASSERV_ARM_ROTATION_FULL , ASSERV_ARM_SPEED_HALF);
-
- /* Activate the classifier. */
- // TODO write the code to use the classifier. How to know when the
- // quantity of desired samples are loaded ?
-
- /* At this moment the samples shall be loaded. */
- /* Go backaward */
- asserv_move_linearly (-10);
-
- /* Set the arm to the initial position. */
- asserv_move_arm (ASSERV_ARM_ROTATION_INIT, ASSERV_ARM_SPEED_FULL);
-}
-
-/** Get samples procedure. Request the robot to go and get some sample of the
- * team color or ice samples.
- *
- * 1. Go to the position in front of the distributor.
- * 2. Prepare the arm to get samples.
- * 3. Go forward with a controled speed to get the samples.
- * 4. Prepare the classifier to classify the samples.
- * 5. loadballs with the quantity of samples desired.
- * 6. Continue classifier
- *
- * See trunk/digital/io/doc/getSamples.png and
- * trunk/digital/io/doc/loadballs.png (use make to get the png files).
- *
- * \param blue the team color true if the robot is in the blue team.
- */
-void
-ia_get_samples (bool blue, bool ice)
-{
- /* Set the ARM to the init position to avoid the robot to take samples on
- * the distributor path. */
- asserv_move_arm (ASSERV_ARM_ROTATION_INIT, ASSERV_ARM_ROTATION_FULL);
-
- /* Go to the distributor. */
-
- if (ice)
- {
- //TODO this will only work when the robot is in the red team, the need to
- //know at which position the robot starts is necessary.
- if (blue)
- asserv_set_x_position (DISTRIBUTOR_SAMPLES_BLUE_X);
- else
- asserv_set_x_position (DISTRIBUTOR_SAMPLES_RED_X);
-
- asserv_set_y_position (DISTRIBUTRO_SAMPLES_Y - 100);
- }
- else
- {
- /* Go to the ice distributor. */
- if (ia_global.ice_status_our)
- asserv_set_x_position (0);
- else
- asserv_set_x_position (TABLE_MAX_X);
-
- asser_set_y_position (DISTRIBUTOR_ICE_Y);
- }
-
-
- /* Set the classifier to the correct position. */
- /* TODO fill this part */
-
- /* Poll for the position. */
- /* TODO A function for that ?? */
-
- ia_load_samples (3 /* TODO change this value to the correct one.*/);
-}
-
-/** Get ice.
- */
-void
-ia_get_ice (void)
-{
- load_samples (true, true);
-}
-
-
-/** Depose the samples in the gutter.
- */
-void
-ia_depose_samples (void)
-{
- asserv_go_to_gutter();
-
- /*TODO open the collector. */
-
- utils_delay_ms (4);
-
- /* TODO close the collector. */
-}
diff --git a/digital/io/src/ia.h b/digital/io/src/ia.h
index 7ed9a571..3a11ed30 100644
--- a/digital/io/src/ia.h
+++ b/digital/io/src/ia.h
@@ -43,6 +43,12 @@
#define ASSERV_ARM_SPEED_FULL 100
#define ASSERV_ARM_SPEED_HALF (ASSERV_ARM_SPEED_FULL / 2)
+enum ia_team_e
+{
+ TEAM_COLOR_RED,
+ TEAM_COLOR_BLUE
+};
+
struct ia_t
{
/* Bool status of the previous sequence loaded.
@@ -55,6 +61,9 @@ struct ia_t
/* Bool status indicating our ice distributor status. */
bool ice_status_our;
+
+ /* Team color */
+ bool team_color;
};
@@ -63,49 +72,4 @@ struct ia_t
void
ia_init (void);
-/** Load balls procedure from a distributor.
- *
- * 1. Rotate the arm to the desired position to allow the robot to load x
- * balls.
- * 2. Go backward, this will allow the robot to continue rotating the arm and
- * load the balls.
- * 3. Stop the arm and put it to its initial position to disallow the robot
- * to take undesired balls.
- *
- * See trunk/digital/io/doc/loadballs.png (use the make command before)
- *
- * \param balls_nb the quantity of ball to load.
- */
-void
-ia_load_samples (uint8_t balls_nb);
-
-/** Get samples procedure. Request the robot to go and get some sample of the
- * team color or ice samples.
- *
- * 1. Go to the position in front of the distributor.
- * 2. Prepare the arm to get samples.
- * 3. Go forward with a controled speed to get the samples.
- * 4. Prepare the classifier to classify the samples.
- * 5. loadballs with the quantity of samples desired.
- * 6. Continue classifier
- *
- * See trunk/digital/io/doc/getSamples.png and
- * trunk/digital/io/doc/loadballs.png (use make to get the png files).
- *
- * \param blue the team color true if the robot is in the blue team.
- */
-void
-ia_get_samples (bool blue);
-
-/** Get ice.
- */
-void
-ia_get_ice (void);
-
-/** Depose the samples in the gutter.
- */
-void
-ia_depose_samples (void);
-
-
#endif /* ia_h */