/* gutter_cb.c - gutter FSM callbacks. */ /* {{{ * * Copyright (C) 2008 NĂ©lio Laranjeiro * * 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 "gutter_cb.h" #include "asserv.h" /* asserv_go_to_the_wall */ #include "trap.h" /* trap_* */ #include "playground.h" /* PG_GUTTER_A */ #include "main.h" /* main_post_event_for_top_fsm */ /** * Gutter private data to wait a certain number of cycles. */ uint16_t gutter_wait_cycle_; /** * Count of cycles to wait before we estimate all the balls have been dropped * into the gutter. A cycle normally last 4.4ms. */ #define GUTTER_WAIT_FOR_BALLS_TO_DROP 300 /** * Time to wait before trying the go to the wall again. */ #define GUTTER_WAIT_BEFORE_TRY_AGAIN (225) /* * ROTATE_REAR_SIDE_TO_GUTTER =bot_move_succeed=> * => GO_TO_THE_GUTTER_WALL * make the bot reversing against the gutter */ fsm_branch_t gutter__ROTATE_REAR_SIDE_TO_GUTTER__bot_move_succeed (void) { /* Make the bot reversing against the gutter */ asserv_go_to_the_wall (); return gutter_next (ROTATE_REAR_SIDE_TO_GUTTER, bot_move_succeed); } /* * WAIT_AND_TRY_AGAIN =wait_finished=> * => GO_TO_THE_GUTTER_WALL * try the fuck the wall again */ fsm_branch_t gutter__WAIT_AND_TRY_AGAIN__wait_finished (void) { /* Make the bot reversing against the gutter */ asserv_go_to_the_wall (); return gutter_next (WAIT_AND_TRY_AGAIN, wait_finished); } /* * IDLE =start=> * => ROTATE_REAR_SIDE_TO_GUTTER * put the bot back to the gutter */ fsm_branch_t gutter__IDLE__start (void) { /* Initialize internal data */ gutter_wait_cycle_ = 0; /* Put the bot back to the gutter */ asserv_goto_angle (PG_GUTTER_A); return gutter_next (IDLE, start); } /* * GO_TO_THE_GUTTER_WALL =bot_move_failed=> * => WAIT_AND_TRY_AGAIN * ask the top FSM to wake us up in a few times */ fsm_branch_t gutter__GO_TO_THE_GUTTER_WALL__bot_move_failed (void) { main_getsamples_wait_cycle = GUTTER_WAIT_BEFORE_TRY_AGAIN; return gutter_next (GO_TO_THE_GUTTER_WALL, bot_move_failed); } /* * GO_TO_THE_GUTTER_WALL =bot_move_succeed=> * => DROP_BALLS * open the collector to drop the balls * wait for a while */ fsm_branch_t gutter__GO_TO_THE_GUTTER_WALL__bot_move_succeed (void) { /* Open the rear panel */ trap_open_rear_panel (); /* Wait for GUTTER_WAIT_FOR_BALLS_TO_DROP before being calling back by the * main loop */ gutter_wait_cycle_ = GUTTER_WAIT_FOR_BALLS_TO_DROP; return gutter_next (GO_TO_THE_GUTTER_WALL, bot_move_succeed); } /* * DROP_BALLS =wait_finished=> * => IDLE * close the rear panel * tell the top FSM we have finished */ fsm_branch_t gutter__DROP_BALLS__wait_finished (void) { /* Close the rear panel */ trap_close_rear_panel (); /* Tell the top FSM we have finished */ main_post_event_for_top_fsm = TOP_EVENT_gutter_fsm_finished; return gutter_next (DROP_BALLS, wait_finished); }