From 80b3da91dac28a5895a8cb9f0477a7008365dd56 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 1 Apr 2010 23:57:20 +0200 Subject: digital/io: wipe-out old robot code, closes #112 --- digital/io/src/filterbridge_cb.c | 149 --------------------------------------- 1 file changed, 149 deletions(-) delete mode 100644 digital/io/src/filterbridge_cb.c (limited to 'digital/io/src/filterbridge_cb.c') diff --git a/digital/io/src/filterbridge_cb.c b/digital/io/src/filterbridge_cb.c deleted file mode 100644 index 2b4e452d..00000000 --- a/digital/io/src/filterbridge_cb.c +++ /dev/null @@ -1,149 +0,0 @@ -/* filterbridge_cb.c - filterbridge 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 "filterbridge_cb.h" -#include "elevator.h" -#include "servo_pos.h" -#include "aquajim.h" -#include "filterbridge.h" -#include "top.h" -#include "cylinder.h" -#include "modules/trace/trace.h" -#include "trace_event.h" - -/* - * IDLE =start=> - * => WAIT_JACK_IN - * we wait for the jack - */ -fsm_branch_t -filterbridge__IDLE__start (void) -{ - return filterbridge_next (IDLE, start); -} - -/* - * WAIT_JACK_IN =jack_inserted_into_bot=> - * => CLOSE_DOOR - * we init the bridge - */ -fsm_branch_t -filterbridge__WAIT_JACK_IN__jack_inserted_into_bot (void) -{ - servo_pos_move_to(SERVO_FINGER_ID, SERVO_FINGER_IDLE); - servo_pos_move_to(SERVO_DOOR_ID, SERVO_DOOR_CLOSE); - return filterbridge_next (WAIT_JACK_IN, jack_inserted_into_bot); -} - -/* - * CLOSE_DOOR =state_timeout=> - * => WAIT_A_PUCK - * we are ready, we wait a puck - */ -fsm_branch_t -filterbridge__CLOSE_DOOR__state_timeout (void) -{ - return filterbridge_next (CLOSE_DOOR, state_timeout); -} - -/* - * WAIT_A_PUCK =puck_on_pos2=> - * => WAIT_LIFT_READY - * Puck ready to be dropped to the elevator. Test if elvt ready to get it. - */ -fsm_branch_t -filterbridge__WAIT_A_PUCK__puck_on_pos2 (void) -{ - return filterbridge_next (WAIT_A_PUCK, puck_on_pos2); -} - -/* - * WAIT_LIFT_READY =lift_ready=> - * => MARCEL_WAIT - * the lift is ready - */ -fsm_branch_t -filterbridge__WAIT_LIFT_READY__lift_ready (void) -{ - return filterbridge_next (WAIT_LIFT_READY, lift_ready); -} - -/* - * MARCEL_WAIT =state_timeout=> - * => OPEN_DOOR - * lift ready, we deliver - */ -fsm_branch_t -filterbridge__MARCEL_WAIT__state_timeout (void) -{ - servo_pos_move_to(SERVO_DOOR_ID, SERVO_DOOR_OPEN); - return filterbridge_next (MARCEL_WAIT, state_timeout); -} - -/* - * OPEN_DOOR =state_timeout=> - * => PUSH_PUCK - * we push the puck to the lift - */ -fsm_branch_t -filterbridge__OPEN_DOOR__state_timeout (void) -{ - servo_pos_move_to(SERVO_FINGER_ID,SERVO_FINGER_PUSHING); - return filterbridge_next (OPEN_DOOR, state_timeout); -} - -/* - * PUSH_PUCK =no_puck_on_pos2=> - * => TEMPO_ELVETATOR_COMMUNICATION - * nothing to do. - */ -fsm_branch_t -filterbridge__PUSH_PUCK__no_puck_on_pos2 (void) -{ - return filterbridge_next (PUSH_PUCK, no_puck_on_pos2); -} - -/* - * TEMPO_ELVETATOR_COMMUNICATION =state_timeout=> - * => CLOSE_DOOR - * the puck disappears, we close doors - * tell the elevator we are ready. - */ -fsm_branch_t -filterbridge__TEMPO_ELVETATOR_COMMUNICATION__state_timeout (void) -{ - ++elvt_nb_puck; - if(fb_nb_puck) --fb_nb_puck; - top_puck_inside_bot = cylinder_nb_puck + fb_nb_puck + elvt_nb_puck; - elvt_new_puck = 1; - servo_pos_move_to(SERVO_FINGER_ID, SERVO_FINGER_IDLE); - servo_pos_move_to(SERVO_DOOR_ID, SERVO_DOOR_CLOSE); - TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot, - cylinder_nb_puck, fb_nb_puck, elvt_nb_puck); - return filterbridge_next (TEMPO_ELVETATOR_COMMUNICATION, state_timeout); -} - - -- cgit v1.2.3