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+/* cylinder_cb.c - cylinder 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 "cylinder_cb.h"
+
+/*
+ * WAIT_FOR_BRIDGE_READY =bridge_ready=>
+ * => TURN_PLUS_2_AGAIN
+ * bridge clear, delivering puck...
+ */
+fsm_branch_t
+cylinder__WAIT_FOR_BRIDGE_READY__bridge_ready (void)
+{
+ return cylinder_next (WAIT_FOR_BRIDGE_READY, bridge_ready);
+}
+
+/*
+ * WAIT_A_PUCK =new_puck=>
+ * bridge_ready => TURN_PLUS_4
+ * put puck to the bridge
+ * bridge_full => TURN_PLUS_2
+ * bridge full, waiting before release puck to the bridge
+ */
+fsm_branch_t
+cylinder__WAIT_A_PUCK__new_puck (void)
+{
+ return cylinder_next_branch (WAIT_A_PUCK, new_puck, bridge_ready);
+ return cylinder_next_branch (WAIT_A_PUCK, new_puck, bridge_full);
+}
+
+/*
+ * INIT =init_done=>
+ * => WAIT_A_PUCK
+ * the cylinder is ready to get pucks
+ */
+fsm_branch_t
+cylinder__INIT__init_done (void)
+{
+ return cylinder_next (INIT, init_done);
+}
+
+/*
+ * WAIT_FOR_PUCKS_RELEASE =lift_ready=>
+ * => TURN_PLUS_1
+ * robot ready for new puck, open door
+ */
+fsm_branch_t
+cylinder__WAIT_FOR_PUCKS_RELEASE__lift_ready (void)
+{
+ return cylinder_next (WAIT_FOR_PUCKS_RELEASE, lift_ready);
+}
+
+/*
+ * IDLE =jack_in=>
+ * => INIT
+ * initialize robot
+ */
+fsm_branch_t
+cylinder__IDLE__jack_in (void)
+{
+ return cylinder_next (IDLE, jack_in);
+}
+
+/*
+ * TURN_PLUS_2 =move_done=>
+ * => WAIT_FOR_BRIDGE_READY
+ * bridge full, waiting for Bison Fute's clearance
+ */
+fsm_branch_t
+cylinder__TURN_PLUS_2__move_done (void)
+{
+ return cylinder_next (TURN_PLUS_2, move_done);
+}
+
+/*
+ * PROBE_OF =probe_done=>
+ * puck_detected_and_lift_full => TURN_MINUS_3
+ * BAD CASE, there is an undesirable puck to the cylinder
+ * puck_detected_and_lift_ready => WAIT_FOR_BRIDGE_READY
+ * there is a puck, we take a shortcut...
+ * cylinder_empty_and_lift_ready => WAIT_A_PUCK
+ * ready for a new puck
+ * cylinder_empty_and_lift_full => TURN_MINUS_1
+ * stop accepting new puck
+ */
+fsm_branch_t
+cylinder__PROBE_OF__probe_done (void)
+{
+ return cylinder_next_branch (PROBE_OF, probe_done, puck_detected_and_lift_full);
+ return cylinder_next_branch (PROBE_OF, probe_done, puck_detected_and_lift_ready);
+ return cylinder_next_branch (PROBE_OF, probe_done, cylinder_empty_and_lift_ready);
+ return cylinder_next_branch (PROBE_OF, probe_done, cylinder_empty_and_lift_full);
+}
+
+/*
+ * TURN_PLUS_1 =move_done=>
+ * => WAIT_A_PUCK
+ * door opened, ready for a new puck
+ */
+fsm_branch_t
+cylinder__TURN_PLUS_1__move_done (void)
+{
+ return cylinder_next (TURN_PLUS_1, move_done);
+}
+
+/*
+ * TURN_MINUS_1 =move_done=>
+ * => WAIT_FOR_PUCKS_RELEASE
+ * robot entrance closed
+ */
+fsm_branch_t
+cylinder__TURN_MINUS_1__move_done (void)
+{
+ return cylinder_next (TURN_MINUS_1, move_done);
+}
+
+/*
+ * TURN_MINUS_3 =move_done=>
+ * => WAIT_FOR_PUCKS_RELEASE
+ * evil puck dropped and robot entrance closed
+ */
+fsm_branch_t
+cylinder__TURN_MINUS_3__move_done (void)
+{
+ return cylinder_next (TURN_MINUS_3, move_done);
+}
+
+/*
+ * TURN_PLUS_2_AGAIN =move_done=>
+ * => PROBE_OF
+ * there is a puck to the cylinder?
+ */
+fsm_branch_t
+cylinder__TURN_PLUS_2_AGAIN__move_done (void)
+{
+ return cylinder_next (TURN_PLUS_2_AGAIN, move_done);
+}
+
+/*
+ * TURN_PLUS_4 =move_done=>
+ * => PROBE_OF
+ * there is a puck to the cylinder?
+ */
+fsm_branch_t
+cylinder__TURN_PLUS_4__move_done (void)
+{
+ return cylinder_next (TURN_PLUS_4, move_done);
+}
+
+