/* ai_top_cb.c */ /* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ * * Copyright (C) 2010 Nicolas Schodet * * 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. * * }}} * Main FSM calling other FSM. */ #include "common.h" #include "fsm.h" #include "ai_cb.h" #include "top.h" #include "move.h" #include "chrono.h" #include "playground.h" #include "asserv.h" #include "loader.h" /* * IDLE =start=> * => WAIT_INIT_TO_FINISH * nothing to do. */ fsm_branch_t ai__IDLE__start (void) { return ai_next (IDLE, start); } /* * WAIT_INIT_TO_FINISH =init_match_is_started=> * => FIRST_GO_BEGIN_OF_LINE_FAST * the match start * set fast speed * go to first sequence begin of line */ fsm_branch_t ai__WAIT_INIT_TO_FINISH__init_match_is_started (void) { asserv_set_speed (BOT_MOVE_FAST); move_start_noangle (PG_VECT (375, 1503), 0, 0); return ai_next (WAIT_INIT_TO_FINISH, init_match_is_started); } /* * FIRST_GO_BEGIN_OF_LINE_FAST =move_fsm_succeed=> * => FIRST_GO_END_OF_LINE_FAST * go to end of line * loader down */ fsm_branch_t ai__FIRST_GO_BEGIN_OF_LINE_FAST__move_fsm_succeed (void) { move_start_noangle (PG_VECT (2625, 253), 0, 0); loader_down (); return ai_next (FIRST_GO_BEGIN_OF_LINE_FAST, move_fsm_succeed); } /* * FIRST_GO_BEGIN_OF_LINE_FAST =move_fsm_failed=> * => FIRST_GO_BEGIN_OF_LINE_FAST * set slow speed * retry */ fsm_branch_t ai__FIRST_GO_BEGIN_OF_LINE_FAST__move_fsm_failed (void) { asserv_set_speed (BOT_MOVE_SLOW); move_start_noangle (PG_VECT (375, 1503), 0, 0); return ai_next (FIRST_GO_BEGIN_OF_LINE_FAST, move_fsm_failed); } /* * FIRST_GO_END_OF_LINE_FAST =in_field=> * => FIRST_GO_END_OF_LINE_SLOW * set slow speed */ fsm_branch_t ai__FIRST_GO_END_OF_LINE_FAST__in_field (void) { asserv_set_speed (BOT_MOVE_SLOW); return ai_next (FIRST_GO_END_OF_LINE_FAST, in_field); } /* * FIRST_GO_END_OF_LINE_FAST =move_fsm_succeed=> * => UNLOAD_LOADER_UP * set slow speed * move loader up */ fsm_branch_t ai__FIRST_GO_END_OF_LINE_FAST__move_fsm_succeed (void) { asserv_set_speed (BOT_MOVE_SLOW); ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_succeed (); return ai_next (FIRST_GO_END_OF_LINE_FAST, move_fsm_succeed); } /* * FIRST_GO_END_OF_LINE_FAST =move_fsm_failed=> * => FIRST_GO_END_OF_LINE_SLOW * set slow speed * retry */ fsm_branch_t ai__FIRST_GO_END_OF_LINE_FAST__move_fsm_failed (void) { asserv_set_speed (BOT_MOVE_SLOW); ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_failed (); return ai_next (FIRST_GO_END_OF_LINE_FAST, move_fsm_failed); } /* * FIRST_GO_END_OF_LINE_SLOW =move_fsm_succeed=> * => UNLOAD_LOADER_UP * move loader up */ fsm_branch_t ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_succeed (void) { loader_up (); return ai_next (FIRST_GO_END_OF_LINE_SLOW, move_fsm_succeed); } /* * FIRST_GO_END_OF_LINE_SLOW =move_fsm_failed=> * => FIRST_GO_END_OF_LINE_SLOW * retry */ fsm_branch_t ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_failed (void) { move_start_noangle (PG_VECT (2625, 253), 0, 0); return ai_next (FIRST_GO_END_OF_LINE_SLOW, move_fsm_failed); } /* * UNLOAD =move_fsm_succeed=> * => UNLOAD_LOADER_UP * move loader up */ fsm_branch_t ai__UNLOAD__move_fsm_succeed (void) { loader_up (); return ai_next (UNLOAD, move_fsm_succeed); } /* * UNLOAD =move_fsm_failed=> * => UNLOAD * retry */ fsm_branch_t ai__UNLOAD__move_fsm_failed (void) { move_start_noangle (PG_VECT (2625, 253), 0, 0); return ai_next (UNLOAD, move_fsm_failed); } /* * UNLOAD_LOADER_UP =loader_uped=> * => UNLOAD_FACE_BIN * turn toward bin */ fsm_branch_t ai__UNLOAD_LOADER_UP__loader_uped (void) { asserv_goto_angle (PG_A_DEG (90)); return ai_next (UNLOAD_LOADER_UP, loader_uped); } /* * UNLOAD_FACE_BIN =bot_move_succeed=> * => UNLOAD_BACK_BIN * go backward to bin */ fsm_branch_t ai__UNLOAD_FACE_BIN__bot_move_succeed (void) { asserv_move_linearly (-(128 + 250 / 2 - BOT_SIZE_BACK - 50)); return ai_next (UNLOAD_FACE_BIN, bot_move_succeed); } /* * UNLOAD_BACK_BIN =bot_move_succeed=> * => UNLOAD_UNLOAD * unload */ fsm_branch_t ai__UNLOAD_BACK_BIN__bot_move_succeed (void) { asserv_move_motor1_absolute (0, BOT_GATE_SPEED); return ai_next (UNLOAD_BACK_BIN, bot_move_succeed); } /* * UNLOAD_BACK_BIN =bot_move_failed=> * => UNLOAD_UNLOAD * unload */ fsm_branch_t ai__UNLOAD_BACK_BIN__bot_move_failed (void) { ai__UNLOAD_BACK_BIN__bot_move_succeed (); return ai_next (UNLOAD_BACK_BIN, bot_move_failed); } /* * UNLOAD_UNLOAD =state_timeout=> * => COLLECT * close gate * loader down * choose best food to collect */ fsm_branch_t ai__UNLOAD_UNLOAD__state_timeout (void) { loader_elements = 0; asserv_move_motor1_absolute (BOT_GATE_STROKE_STEP, BOT_GATE_SPEED); loader_down (); top_collect (1); return ai_next (UNLOAD_UNLOAD, state_timeout); } /* * COLLECT =move_fsm_succeed=> * unload => UNLOAD * collect => COLLECT */ fsm_branch_t ai__COLLECT__move_fsm_succeed (void) { if (top_collect (0)) return ai_next_branch (COLLECT, move_fsm_succeed, collect); else return ai_next_branch (COLLECT, move_fsm_succeed, unload); } /* * COLLECT =move_fsm_failed=> * unload => UNLOAD * collect => COLLECT */ fsm_branch_t ai__COLLECT__move_fsm_failed (void) { if (top_collect (0)) return ai_next_branch (COLLECT, move_fsm_failed, collect); else return ai_next_branch (COLLECT, move_fsm_failed, unload); }