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authorNicolas Schodet2011-05-20 08:27:02 +0200
committerNicolas Schodet2011-05-20 08:27:02 +0200
commit2277c9a7aa41c347ba04fca8e202c77b43618802 (patch)
treea73904b3ed877677411caecadaf83ee5b3ff6319 /digital/ai/src
parentc3274377f05073c6d40265ab7849df2a72cfd54e (diff)
digital/{ai,io-hub}: add init FSM
Diffstat (limited to 'digital/ai/src')
-rw-r--r--digital/ai/src/fsm/init.c188
1 files changed, 188 insertions, 0 deletions
diff --git a/digital/ai/src/fsm/init.c b/digital/ai/src/fsm/init.c
new file mode 100644
index 00000000..1f933ce1
--- /dev/null
+++ b/digital/ai/src/fsm/init.c
@@ -0,0 +1,188 @@
+/* init.c */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 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.
+ *
+ * }}} */
+#include "common.h"
+
+#include "asserv.h"
+#include "contact.h"
+#include "chrono.h"
+
+#define FSM_NAME AI
+#include "fsm.h"
+#include "fsm_queue.h"
+
+#include "bot.h"
+#include "init_defs.h"
+
+/*
+ * Initialise robot position with a calibration procedure.
+ */
+
+FSM_STATES (
+ /* Initial state, waiting for jack. */
+ INIT_START,
+ /* After first jack insertion, waiting for removal to initialise actuators. */
+ INIT_WAITING_FIRST_JACK_OUT,
+ /* Initialising actuators, then waiting for second jack insertion. */
+ INIT_INITIALISING_ACTUATORS,
+ /* After second jack insertion, waiting the operator remove its
+ * hand. */
+ INIT_WAITING_HANDS_OUT,
+ /* Finding the first wall. */
+ INIT_FINDING_FIRST_WALL,
+ /* Going away from the wall. */
+ INIT_GOING_AWAY_FIRST_WALL,
+ /* Turning to face the other wall. */
+ INIT_FACING_SECOND_WALL,
+ /* Waiting after rotation for robot to stabilize. */
+ INIT_WAITING_AFTER_FACING_SECOND_WALL,
+ /* Finding the second wall. */
+ INIT_FINDING_SECOND_WALL,
+ /* Going away from the wall. */
+ INIT_GOING_AWAY_SECOND_WALL,
+#ifdef INIT_START_POSITION_ANGLE
+ /* Facing the start position. */
+ INIT_FACING_START_POSITION,
+#endif
+ /* Going to start position. */
+ INIT_GOING_TO_START_POSITION,
+ /* Waiting for the round start (waiting for the jack). */
+ INIT_WAITING_SECOND_JACK_OUT,
+ /* Initialisation finished, nothing else to do. */
+ INIT_FINISHED)
+
+FSM_EVENTS (
+ /* XXX: temporarily here. */
+ robot_move_success,
+ robot_move_failure,
+ /* Jack is inserted. */
+ jack_inserted,
+ /* Jack is removed. */
+ jack_removed,
+ /* Sent to initialise actuators. */
+ init_actuators,
+ /* Sent to start round. */
+ init_start_round)
+
+FSM_START_WITH (INIT_START)
+
+FSM_TRANS (INIT_START, jack_inserted, INIT_WAITING_FIRST_JACK_OUT)
+{
+ return FSM_NEXT (INIT_START, jack_inserted);
+}
+
+FSM_TRANS (INIT_WAITING_FIRST_JACK_OUT, jack_removed,
+ INIT_INITIALISING_ACTUATORS)
+{
+ fsm_queue_post_event (FSM_EVENT (AI, init_actuators));
+ return FSM_NEXT (INIT_WAITING_FIRST_JACK_OUT, jack_removed);
+}
+
+FSM_TRANS (INIT_INITIALISING_ACTUATORS, jack_inserted, INIT_WAITING_HANDS_OUT)
+{
+ team_color = contact_get_color ();
+ return FSM_NEXT (INIT_INITIALISING_ACTUATORS, jack_inserted);
+}
+
+FSM_TRANS_TIMEOUT (INIT_WAITING_HANDS_OUT, 225, INIT_FINDING_FIRST_WALL)
+{
+ asserv_set_speed (BOT_SPEED_INIT);
+ asserv_push_the_wall (INIT_FIRST_WALL_PUSH);
+ return FSM_NEXT_TIMEOUT (INIT_WAITING_HANDS_OUT);
+}
+
+FSM_TRANS (INIT_FINDING_FIRST_WALL, robot_move_success,
+ INIT_GOING_AWAY_FIRST_WALL)
+{
+ asserv_move_linearly (INIT_FIRST_WALL_AWAY);
+ return FSM_NEXT (INIT_FINDING_FIRST_WALL, robot_move_success);
+}
+
+FSM_TRANS (INIT_GOING_AWAY_FIRST_WALL, robot_move_success,
+ INIT_FACING_SECOND_WALL)
+{
+ asserv_goto_angle (INIT_SECOND_WALL_ANGLE);
+ return FSM_NEXT (INIT_GOING_AWAY_FIRST_WALL, robot_move_success);
+}
+
+FSM_TRANS (INIT_FACING_SECOND_WALL, robot_move_success,
+ INIT_WAITING_AFTER_FACING_SECOND_WALL)
+{
+ return FSM_NEXT (INIT_FACING_SECOND_WALL, robot_move_success);
+}
+
+FSM_TRANS_TIMEOUT (INIT_WAITING_AFTER_FACING_SECOND_WALL, 225 / 2,
+ INIT_FINDING_SECOND_WALL)
+{
+ asserv_push_the_wall (INIT_SECOND_WALL_PUSH);
+ return FSM_NEXT_TIMEOUT (INIT_WAITING_AFTER_FACING_SECOND_WALL);
+}
+
+FSM_TRANS (INIT_FINDING_SECOND_WALL, robot_move_success,
+ INIT_GOING_AWAY_SECOND_WALL)
+{
+ asserv_move_linearly (INIT_SECOND_WALL_AWAY);
+ return FSM_NEXT (INIT_FINDING_SECOND_WALL, robot_move_success);
+}
+
+#ifdef INIT_START_POSITION_ANGLE
+FSM_TRANS (INIT_GOING_AWAY_SECOND_WALL, robot_move_success,
+ INIT_FACING_START_POSITION)
+{
+ asserv_goto_angle (INIT_START_POSITION_ANGLE);
+ return FSM_NEXT (INIT_GOING_AWAY_SECOND_WALL, robot_move_success);
+}
+
+FSM_TRANS (INIT_FACING_START_POSITION, robot_move_success,
+ INIT_GOING_TO_START_POSITION)
+{
+ asserv_goto_xya (INIT_START_POSITION);
+ return FSM_NEXT (INIT_FACING_START_POSITION, robot_move_success);
+}
+
+#else
+
+FSM_TRANS (INIT_GOING_AWAY_SECOND_WALL, robot_move_success,
+ INIT_GOING_TO_START_POSITION)
+{
+ asserv_goto_xya (INIT_START_POSITION);
+ return FSM_NEXT (INIT_GOING_AWAY_SECOND_WALL, robot_move_success);
+}
+
+#endif
+
+FSM_TRANS (INIT_GOING_TO_START_POSITION, robot_move_success,
+ INIT_WAITING_SECOND_JACK_OUT)
+{
+ asserv_set_speed (BOT_SPEED_NORMAL);
+ return FSM_NEXT (INIT_GOING_TO_START_POSITION, robot_move_success);
+}
+
+FSM_TRANS (INIT_WAITING_SECOND_JACK_OUT, jack_removed, INIT_FINISHED)
+{
+ chrono_init ();
+ fsm_queue_post_event (FSM_EVENT (AI, init_start_round));
+ return FSM_NEXT (INIT_WAITING_SECOND_JACK_OUT, jack_removed);
+}
+