From e852c8a8236a13edfe8681439e1e5f5d8484fec4 Mon Sep 17 00:00:00 2001 From: Julien Balleyguier Date: Sun, 13 May 2012 13:06:59 +0200 Subject: digital/io-hub/src/guybrush/bottom_clamp.c : changing some define name --- digital/io-hub/src/guybrush/bottom_clamp.c | 26 ++++++++++++++------------ 1 file changed, 14 insertions(+), 12 deletions(-) diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c index af477cf5..cdbb0527 100644 --- a/digital/io-hub/src/guybrush/bottom_clamp.c +++ b/digital/io-hub/src/guybrush/bottom_clamp.c @@ -172,10 +172,11 @@ FSM_START_WITH (CLAMP_START) ROTATION DEFINITION ---------------------------------------*/ #define POS_DELAY 1250 +#define INIT_BOTTOM_POS (6+HALF_TURN) #define HIDE_POS 3 #define BACK_TO_READY (16-HIDE_POS) #define HALF_TURN 8 -#define QUARTER_TURN (16-4) +#define QUARTER_TURN 4 #define DECALAGE_CD_BAS 1 #define HIDE_POS_TREE 3 #define HIDE_POS_TREE_2 (2-DECALAGE_CD_BAS) @@ -184,8 +185,10 @@ FSM_START_WITH (CLAMP_START) #define RECALE_COIN (QUARTER_TURN - HIDE_POS_TREE_2 - DECALAGE_CD_BAS) #define BACK_TO_READY_RECALE_COIN (-QUARTER_TURN) #define FAST_ROTATION 0x30 -#define SPEED_ROTATION 0x30 -#define FAILURE_ROTATION 0x10 +#define MEDIUM_ROTATION 0x10 +#define SLOW_ROTATION 0x01 +#define LOW_PRESSURE 0x300 +#define HIGH_PRESSURE 0x380 /*------------------------------------- Clamp context ---------------------------------------*/ @@ -285,8 +288,7 @@ FSM_TRANS (CLAMP_INIT_HIDE_CLAMP, lower_clamp_rotation_success, FSM_TRANS (CLAMP_INIT_READY,init_start_round, CLAMP_GOING_IDLE) { - move_needed(BACK_TO_READY * 250,SPEED_ROTATION); - ctx.clamp_1_down = 1; + move_needed(BACK_TO_READY * 250,FAST_ROTATION); ctx.clamp_1_down = 0; return FSM_NEXT (CLAMP_INIT_READY, init_start_round); } @@ -339,7 +341,7 @@ FSM_TRANS (CLAMP_IDLE, coin_detected, FSM_TRANS_TIMEOUT (CLAMP_TAKE_COIN, TIMEOUT_CLOSE_CLAMPS, CLAMP_TURN_HALF_WAY) { main_set_drop_coin_pos(ctx.pos_current + (HALF_TURN * 250) - POS_DELAY); - move_needed(HALF_TURN * 250,SPEED_ROTATION); + move_needed(HALF_TURN * 250,FAST_ROTATION); return FSM_NEXT_TIMEOUT (CLAMP_TAKE_COIN); } @@ -428,7 +430,7 @@ FSM_TRANS (CLAMP_BOTTOM_CLAMP_HIDE_POS, lower_clamp_rotation_failure, CLAMP_BLOC FSM_TRANS (CLAMP_UNFOLD_UPPER_SET, upper_set_down, CLAMP_BOTTOM_CLAMP_READY) { /*Putting the bottom clamp back to ready.*/ - move_needed(BACK_TO_READY_TREE * 250,SPEED_ROTATION); + move_needed(BACK_TO_READY_TREE * 250,FAST_ROTATION); /*Opening the top clamp.*/ IO_SET (OUTPUT_UPPER_CLAMP_OPEN); @@ -483,7 +485,7 @@ FSM_TRANS(CLAMP_CLOSE_ALL_CLAMPS, robot_is_back,CLAMP_REARRANGE_CD) FSM_TRANS_TIMEOUT (CLAMP_REARRANGE_CD, TIMEOUT_RECENTRAGE, CLAMP_BOTTOM_CLAMP_HIDE_POS2) { /*Hidding the clamp inside the robot.*/ - move_needed(HIDE_POS_TREE_2 * 250,SPEED_ROTATION); + move_needed(HIDE_POS_TREE_2 * 250,FAST_ROTATION); return FSM_NEXT_TIMEOUT (CLAMP_REARRANGE_CD); } FSM_TRANS (CLAMP_BOTTOM_CLAMP_HIDE_POS2, lower_clamp_rotation_success, CLAMP_RELEASE_ASSERV) @@ -578,11 +580,11 @@ FSM_TRANS (CLAMP_BOTTOM_CLAMP_HIDE_POS,stop_tree_approach,CLAMP_BOTTOM_CLAMP_BAC /*Putting the clamp back to take coin*/ if (ctx.clamp_1_down) { - move_needed(BACK_TO_READY_TREE * 250,SPEED_ROTATION); + move_needed(BACK_TO_READY_TREE * 250,FAST_ROTATION); } else { - move_needed((16-BACK_TO_READY_TREE) * 250,SPEED_ROTATION); + move_needed((16-BACK_TO_READY_TREE) * 250,FAST_ROTATION); } return FSM_NEXT(CLAMP_BOTTOM_CLAMP_HIDE_POS,stop_tree_approach); @@ -647,7 +649,7 @@ FSM_TRANS_TIMEOUT (CLAMP_BLOCKED,TIMEOUT_OPEN_CLAMPS,CLAMP_OPEN_BOTTOM_CLAMPS) FSM_TRANS (CLAMP_OPEN_BOTTOM_CLAMPS,robot_is_back, CLAMP_WAIT) { - mimot_move_motor0_absolute (mimot_get_motor0_position() - 16 * 250, FAILURE_ROTATION); + mimot_move_motor0_absolute (mimot_get_motor0_position() - 16 * 250, MEDIUM_ROTATION); return FSM_NEXT (CLAMP_OPEN_BOTTOM_CLAMPS, robot_is_back); } @@ -669,7 +671,7 @@ FSM_TRANS (CLAMP_WAIT,lower_clamp_rotation_failure, CLAMP_BLOCKED) FSM_TRANS_TIMEOUT (CLAMP_TURN_BACKWARD,TIMEOUT_BLOCKED, CLAMP_TURN_FORWARD) { - move_needed(0,FAILURE_ROTATION); + move_needed(0,MEDIUM_ROTATION); if (ctx.clamp_1_down) { /*Clamp 1 is now up (clamp 2 is down).*/ -- cgit v1.2.3