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path: root/digital/io/src/move_cb.c
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2010-04-01digital/io/src: use one FSM with several active states, closes #83Nicolas Schodet
2010-04-01digital/io: wipe-out old robot code, closes #112Nicolas Schodet
2009-08-18 * digital/avr/modules/path (closes #81):Nicolas Schodet
- added escaping to avoid being blocked if inside an obstacle. - added obstacle factor to avoid a zone.
2009-05-22 * digital/io/src:Jérémy Dufour
- fix trace for position, - add computed obstacle position.
2009-05-22 * digital/io/src, digital/avr/modules/trace:Jérémy Dufour
- add trace for the position of the bot, - remove path update trace, - add support for trace with 7 parameters.
2009-05-21 * digital/io/src:Jérémy Dufour
- post an event when the move FSM failed on a specific transition.
2009-05-21 * digital/io/src:Jérémy Dufour
- add trace for path computing.
2009-05-21 * digital/io/src:Jérémy Dufour
- rewrite move FSM.
2009-05-20 * digital/io/src:Jérémy Dufour
- support backward parameter for the asserv_goto, - enhance to avoid static obstacle, - add center circle of the playground table.
2009-05-20 * digital/io/src:Jérémy Dufour
- add direction support in goto command, - move FSM use the angle for the end of the movement.
2009-05-18 * digital/io/src:Jérémy Dufour
- fix event sent to the wrong FSM, - start top FSM, - rewrite event generated by move FSM when its finished, - init FSM generates an event when the match start, - init FSM starts the chrono when the match start, - top FSM now uses the event generated by the init FSM to know when the match start and not the jack states.
2009-05-18 * digital/io/src:Jérémy Dufour
- rewrite init FSM: - set X, Y, A position when doing the fuck the wall movement (thanks to Fred for the idea and Ni for debugging), - for safety reason, the procedure requires to insert the jack, remove it, insert it again. The bot will wait 2 seconds and set himself to the start position. Then you can remove the jack to make the match begin. - update name of the define for the length of the table.
2008-06-17 * digital/avr/modules/path, digital/io/src:Nicolas Schodet
- moved path finding to a separated module.
2008-05-20Compute the position of the obstacle on the value returned by the sharps.Nélio Laranjeiro
2008-05-03 * digital/io/srcJérémy Dufour
- manage the event where the bot can be blocked (when moving) in the different FSM, by waiting and trying again ; - ensure we update the classifier (with the servos motor) even when the arm move in a state where it should not.
2008-05-03 * digital/io/srcJérémy Dufour
* top FSM - change the position where to drop balls at the gutter (to prevent the order of dropped balls to change) ; - change the order of balls taken at the distributor: first two samples with three ice, then three samples with two ice. * get samples FSM - manage the case where the arm passed the noted position in the state where it should not (because the arm was blocked) ; - add some debug messages. * gutter FSM - reduce the time spent to drop the balls at the gutter. * move FSM - update the algorithm to avoid obstacle: when a obstacle is seen, first way, then if it is not present anymore continue, otherwise, try to find an alternative path; if none found, wait again. * chrono - near end of the match time increased to 83s.
2008-05-02move_fsm: Updated the ignore sharps when obstacle is out of the table.Nélio Laranjeiro
2008-05-01move_fsm: Ignore obstacles out of the table.Nélio Laranjeiro
2008-05-01 * digital/io/srcJérémy Dufour
- add flag for homologation to stop the bot when it finds an obstacle rather than trying to avoid it.
2008-05-01 * digital/io/srcJérémy Dufour
- reduce the time validity of the obstacle to 4 seconds.
2008-05-01 * digital/io/srcJérémy Dufour
- enhance move FSM with support to stop when there is no valid path found to avoid the obstacle ; - add a flag to be notified from the main loop after a certain amount of time.
2008-05-01 * digital/io/srcJérémy Dufour
- fix a bug to use the real moving direction of the bot (and not the possible one).
2008-04-30 * digital/io/srcJérémy Dufour
- add debug function to output messages under host ; - add some debug message into the move FSM.
2008-04-30 * digital/io/srcJérémy Dufour
- integrate backward movement support in the move FSM.
2008-04-30 * digital/io/srcJérémy Dufour
- update sharp more often ; - correctly compute radius, distance and validity in the move FSM for path module.
2008-04-30 * digital/io/srcJérémy Dufour
- fix a bug in the angle conversion.
2008-04-30 * digital/io/srcJérémy Dufour
- rewrite the move FSM ; - integrate it into the main loop with the sharp and path module.
2008-04-28 * digital/io/srcJérémy Dufour
- make the move FSM tell the top one it has finished.
2008-04-27move.fsm: Update the fsm to use the path finder.Nélio Laranjeiro
* update the events in the main.c file. * update the move_cb.c * added some constants.
2008-04-25 * digital/io/srcJérémy Dufour
- ensure event is reset after being posted ; - use 0xFF value for not an event rather than 0 (it prevents the dirty fix to add 1 to the event).
2008-04-24 * digital/io/srcJérémy Dufour
- when a sub FSM finished, it posts an event for the top FSM which will be notified in the next main loop iteration (rather than the actual one).
2008-04-24 * digital/io/srcJérémy Dufour
- when the move FSM finished, tell it to the top one.
2008-04-22move fsm: update the move fsm.Nélio Laranjeiro
2008-04-22move : Optimized source code (size of source code).Nélio Laranjeiro
2008-04-21move : update the move fsm transitions. (Not optimized in code size).Nélio Laranjeiro
2008-04-17Replaced the END state and the START state by a single state IDLE.Nélio Laranjeiro
2008-04-08Tested the move FSM machine.Nélio Laranjeiro
2008-04-05Added and test the move fsm. Only the machine sequence is tested.Nélio Laranjeiro