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authorNicolas Schodet2010-05-02 10:08:55 +0200
committerNicolas Schodet2010-05-02 10:08:55 +0200
commit276f7610f1a44b065407fa276dfeee970034aa7d (patch)
treec1298733f165e6207a2025af9c327e2433f99734 /digital/io/src/ai_loader_cb.c
parentd261d97b1497f67503faa04b83a999848381a791 (diff)
digital/io/src: add loader FSM
Diffstat (limited to 'digital/io/src/ai_loader_cb.c')
-rw-r--r--digital/io/src/ai_loader_cb.c99
1 files changed, 99 insertions, 0 deletions
diff --git a/digital/io/src/ai_loader_cb.c b/digital/io/src/ai_loader_cb.c
new file mode 100644
index 00000000..18cdc4cb
--- /dev/null
+++ b/digital/io/src/ai_loader_cb.c
@@ -0,0 +1,99 @@
+/* ai_loader_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.
+ *
+ * }}} */
+#include "common.h"
+#include "fsm.h"
+#include "ai_cb.h"
+#include "asserv.h"
+#include "bot.h"
+
+/*
+ * LOADER_IDLE =start=>
+ * => LOADER_WAIT_JACK_IN
+ */
+fsm_branch_t
+ai__LOADER_IDLE__start (void)
+{
+ return ai_next (LOADER_IDLE, start);
+}
+
+/*
+ * LOADER_WAIT_JACK_IN =jack_inserted_into_bot=>
+ * => LOADER_WAIT_JACK_OUT
+ */
+fsm_branch_t
+ai__LOADER_WAIT_JACK_IN__jack_inserted_into_bot (void)
+{
+ return ai_next (LOADER_WAIT_JACK_IN, jack_inserted_into_bot);
+}
+
+/*
+ * LOADER_WAIT_JACK_OUT =jack_removed_from_bot=>
+ * => LOADER_INIT_ELEVATOR_ZERO
+ * find elevator zero
+ */
+fsm_branch_t
+ai__LOADER_WAIT_JACK_OUT__jack_removed_from_bot (void)
+{
+ asserv_motor0_zero_position (-BOT_ELEVATOR_ZERO_SPEED);
+ return ai_next (LOADER_WAIT_JACK_OUT, jack_removed_from_bot);
+}
+
+/*
+ * LOADER_INIT_ELEVATOR_ZERO =elevator_succeed=>
+ * => LOADER_INIT_ELEVATOR_UP
+ * move elevator up
+ */
+fsm_branch_t
+ai__LOADER_INIT_ELEVATOR_ZERO__elevator_succeed (void)
+{
+ asserv_move_motor0_absolute (BOT_ELEVATOR_STROKE_STEP,
+ BOT_ELEVATOR_SPEED);
+ return ai_next (LOADER_INIT_ELEVATOR_ZERO, elevator_succeed);
+}
+
+/*
+ * LOADER_INIT_ELEVATOR_UP =elevator_succeed=>
+ * => LOADER_IDLE
+ */
+fsm_branch_t
+ai__LOADER_INIT_ELEVATOR_UP__elevator_succeed (void)
+{
+ return ai_next (LOADER_INIT_ELEVATOR_UP, elevator_succeed);
+}
+
+/*
+ * LOADER_INIT_ELEVATOR_UP =elevator_failed=>
+ * => LOADER_IDLE
+ * initialisation failure
+ */
+fsm_branch_t
+ai__LOADER_INIT_ELEVATOR_UP__elevator_failed (void)
+{
+ /* Move so that the operator notice it. */
+ asserv_move_motor0_absolute (BOT_ELEVATOR_STROKE_STEP / 3,
+ BOT_ELEVATOR_ZERO_SPEED);
+ return ai_next (LOADER_INIT_ELEVATOR_UP, elevator_failed);
+}
+