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-rw-r--r--digital/io/src/init_cb.c143
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diff --git a/digital/io/src/init_cb.c b/digital/io/src/init_cb.c
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+/* 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);
+}
+
+