summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/cylinder_cb.c
blob: fa207959a3c23c8f49e782309340e1a5b4a55226 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
/* cylinder_cb.c - cylinder 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 "cylinder_cb.h"
#include "asserv.h"
#include "cylinder.h"
#include "filterbridge.h"


/*
 * IDLE =start=>
 *  => WAIT_FOR_JACK_IN
 *   we wait the jack before moving anything
 */
fsm_branch_t
cylinder__IDLE__start (void)
{
    return cylinder_next (IDLE, start);
}

/*
 * WAIT_FOR_JACK_IN =jack_inserted_into_bot=>
 *  => INIT
 *   we init the cylinder position
 */
fsm_branch_t
cylinder__WAIT_FOR_JACK_IN__jack_inserted_into_bot (void)
{
    asserv_arm_zero_position();
    return cylinder_next (WAIT_FOR_JACK_IN, jack_inserted_into_bot);
}

/*
 * INIT =move_done=>
 *  => WAIT_A_PUCK
 *   the cylinder is ready to get pucks
 */
fsm_branch_t
cylinder__INIT__move_done (void)
{
    return cylinder_next (INIT, move_done);
}

/*
 * WAIT_A_PUCK =new_puck=>
 *  => TURN_PLUS_3
 *   turn cylinder 3 position after
 */
fsm_branch_t
cylinder__WAIT_A_PUCK__new_puck (void)
{
    ++nb_puck_cylinder;
    asserv_move_arm(3*60*ASSERV_ARM_STEP_BY_DEGREE,
		    ASSERV_ARM_SPEED_DEFAULT);
    return cylinder_next (WAIT_A_PUCK, new_puck);
}

/*
 * TURN_PLUS_3 =move_done=>
 *  => WAIT_FOR_BRIDGE_READY
 *   bridge full, waiting for Bison Fute's clearance
 */
fsm_branch_t
cylinder__TURN_PLUS_3__move_done (void)
{
    return cylinder_next (TURN_PLUS_3, move_done);
}

/*
 * WAIT_FOR_BRIDGE_READY =bridge_ready=>
 * no_puck_bo => TURN_PLUS_1
 *   bridge clear, and no other puck on cylinder
 * puck_bo => TURN_PLUS_1_LOOP
 *   bridge clear, an another puck is in the cylinder
 */
fsm_branch_t
cylinder__WAIT_FOR_BRIDGE_READY__bridge_ready (void)
{
    ++nb_puck_fb;
    asserv_move_arm(1*60*ASSERV_ARM_STEP_BY_DEGREE,
		    ASSERV_ARM_SPEED_DEFAULT);
    if(!of_state)
      {
	--nb_puck_cylinder;
	return cylinder_next_branch (WAIT_FOR_BRIDGE_READY, bridge_ready, no_puck_bo);
      }
    return cylinder_next_branch (WAIT_FOR_BRIDGE_READY, bridge_ready, puck_bo);
}

/*
 * TURN_PLUS_1 =move_done=>
 * ok_for_other_puck => WAIT_A_PUCK
 *   cylinder empty and ready for new puck
 * not_ok_for_other_puck => TURN_MINUS_1
 *   bot full, closing cylinder
 */
fsm_branch_t
cylinder__TURN_PLUS_1__move_done (void)
{
    if(nb_puck_fb < 4)
	return cylinder_next_branch (TURN_PLUS_1, move_done, ok_for_other_puck);
    asserv_move_arm(-1*60*ASSERV_ARM_STEP_BY_DEGREE,
		    ASSERV_ARM_SPEED_DEFAULT);
    return cylinder_next_branch (TURN_PLUS_1, move_done, not_ok_for_other_puck);
}

/*
 * TURN_PLUS_1_LOOP =move_done=>
 * ok_for_other_puck => WAIT_FOR_BRIDGE_READY
 *   we test bo again
 * not_ok_for_other_puck => WAIT_FOR_PUCKS_RELEASE
 *   bot full, eject hypothetical puck and close the cylinder
 */
fsm_branch_t
cylinder__TURN_PLUS_1_LOOP__move_done (void)
{
    if(nb_puck_fb < 4)
	return cylinder_next_branch (TURN_PLUS_1_LOOP, move_done, ok_for_other_puck);
    return cylinder_next_branch (TURN_PLUS_1_LOOP, move_done, not_ok_for_other_puck);
}

/*
 * TURN_MINUS_1 =move_done=>
 *  => WAIT_FOR_PUCKS_RELEASE
 *   cylinder close, you shall not pass (but try again later)
 */
fsm_branch_t
cylinder__TURN_MINUS_1__move_done (void)
{
    return cylinder_next (TURN_MINUS_1, move_done);
}

/*
 * WAIT_FOR_PUCKS_RELEASE =bot_empty=>
 *  => TURN_PLUS_1_AGAIN
 */
fsm_branch_t
cylinder__WAIT_FOR_PUCKS_RELEASE__bot_empty (void)
{
    asserv_move_arm(1*60*ASSERV_ARM_STEP_BY_DEGREE,
		    ASSERV_ARM_SPEED_DEFAULT);
    return cylinder_next (WAIT_FOR_PUCKS_RELEASE, bot_empty);
}

/*
 * TURN_PLUS_1_AGAIN =move_done=>
 *  => WAIT_A_PUCK
 *   cylinder ready
 */
fsm_branch_t
cylinder__TURN_PLUS_1_AGAIN__move_done (void)
{
    return cylinder_next (TURN_PLUS_1_AGAIN, move_done);
}