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-rw-r--r--digital/io-hub/src/guybrush/main.c2
-rw-r--r--digital/io-hub/src/guybrush/top.c42
-rw-r--r--digital/io-hub/src/guybrush/top.h32
3 files changed, 60 insertions, 16 deletions
diff --git a/digital/io-hub/src/guybrush/main.c b/digital/io-hub/src/guybrush/main.c
index 046398dc..b59594ea 100644
--- a/digital/io-hub/src/guybrush/main.c
+++ b/digital/io-hub/src/guybrush/main.c
@@ -53,6 +53,7 @@
#include "path.h"
#include "move.h"
+#include "top.h"
#include "bot.h"
@@ -239,6 +240,7 @@ main_loop (void)
}
pressure_update ();
/* Update AI modules. */
+ top_update ();
path_decay ();
/* Only manage events if slaves are synchronised. */
if (twi_master_sync () && main_fsm_debug_mode != MAIN_FSM_DEBUG_STOP)
diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c
index 2197b0f3..ffd96767 100644
--- a/digital/io-hub/src/guybrush/top.c
+++ b/digital/io-hub/src/guybrush/top.c
@@ -96,9 +96,7 @@ FSM_STATES (
/* Going to an unload position. */
TOP_UNLOAD_GOING,
/* Unloading, waiting for elements to fall. */
- TOP_UNLOADING,
- /* Unloading, going back to playground. */
- TOP_UNLOADING_GOING_BACK)
+ TOP_UNLOADING)
FSM_START_WITH (TOP_START)
@@ -109,11 +107,30 @@ struct top_t
vect_t decision_pos;
/** Current distance to totem. */
int16_t totem_distance;
+ /** Close door when out of unloading zone. */
+ uint8_t close_door;
};
/** Global context. */
struct top_t top;
+void
+top_update (void)
+{
+ if (top.close_door)
+ {
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ if (robot_pos.v.x > PG_HOLD_NORTH_X + BOT_SIZE_BACK
+ && robot_pos.v.x < PG_MIRROR_X (PG_HOLD_NORTH_X + BOT_SIZE_BACK))
+ {
+ IO_CLR (OUTPUT_DOOR_OPEN);
+ IO_SET (OUTPUT_DOOR_CLOSE);
+ top.close_door = 0;
+ }
+ }
+}
+
/** Go collect a totem. */
static void
top_go_totem (void)
@@ -432,21 +449,14 @@ FSM_TRANS (TOP_UNLOAD_GOING, move_success, TOP_UNLOADING)
return FSM_NEXT (TOP_UNLOAD_GOING, move_success);
}
-FSM_TRANS_TIMEOUT (TOP_UNLOADING, 250, TOP_UNLOADING_GOING_BACK)
+FSM_TRANS_TIMEOUT (TOP_UNLOADING, 250,
+ totem, TOP_TOTEM_GOING,
+ bottle, TOP_BOTTLE_GOING,
+ unload, TOP_UNLOAD_GOING)
{
strat_success ();
- asserv_move_linearly (100);
- return FSM_NEXT_TIMEOUT (TOP_UNLOADING);
-}
-
-FSM_TRANS (TOP_UNLOADING_GOING_BACK, robot_move_success,
- totem, TOP_TOTEM_GOING,
- bottle, TOP_BOTTLE_GOING,
- unload, TOP_UNLOAD_GOING)
-{
- IO_CLR (OUTPUT_DOOR_OPEN);
- IO_SET (OUTPUT_DOOR_CLOSE);
- RETURN_TOP_DECISION_SWITCH (TOP_UNLOADING_GOING_BACK, robot_move_success);
+ top.close_door = 1;
+ RETURN_TOP_DECISION_SWITCH (TOP_UNLOADING, TOP_UNLOADING_TIMEOUT);
}
/** UNLOAD failures. */
diff --git a/digital/io-hub/src/guybrush/top.h b/digital/io-hub/src/guybrush/top.h
new file mode 100644
index 00000000..28c35da5
--- /dev/null
+++ b/digital/io-hub/src/guybrush/top.h
@@ -0,0 +1,32 @@
+#ifndef top_h
+#define top_h
+/* top.h */
+/* guybrush - Eurobot 2012 AI. {{{
+ *
+ * Copyright (C) 2012 Nicolas Schodet
+ *
+ * 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.
+ *
+ * }}} */
+
+/** Update top own things. */
+void
+top_update (void);
+
+#endif /* top_h */