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+/* clamp.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 "clamp.h"
+
+#define FSM_NAME AI
+#include "fsm.h"
+
+#include "mimot.h"
+#include "bot.h"
+
+FSM_INIT
+
+FSM_STATES (
+ /* Wait order. */
+ CLAMP_IDLE,
+ /* Moving to a final or intermediary position. */
+ CLAMP_ROUTING)
+
+FSM_EVENTS (
+ /* Order to move the clamp. */
+ clamp_move,
+ /* Elevation and elevation motor success. */
+ clamp_elevation_rotation_success,
+ /* Elevation motor failure. */
+ clamp_elevation_failure,
+ /* Rotation motor failure. */
+ clamp_rotation_failure)
+
+FSM_START_WITH (CLAMP_IDLE)
+
+/** Clamp context. */
+struct clamp_t
+{
+ /* Current position. */
+ uint8_t pos_current;
+ /* Requested position. */
+ uint8_t pos_request;
+};
+
+/** Global context. */
+struct clamp_t clamp_global;
+#define ctx clamp_global
+
+/** Clamp positions. */
+static const uint16_t clamp_pos[][2] = {
+ { BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP,
+ BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ { BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP,
+ BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ { BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP,
+ BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ { BOT_CLAMP_SLOT_BACK_BOTTOM_ELEVATION_STEP,
+ BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ { BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP,
+ BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ { BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP,
+ BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ { BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP,
+ BOT_CLAMP_BAY_SIDE_ROTATION_STEP },
+ { BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP,
+ BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ { BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP,
+ BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ { BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP,
+ BOT_CLAMP_BAY_SIDE_ROTATION_STEP },
+};
+
+void
+clamp_move (uint8_t pos)
+{
+ if (pos != ctx.pos_current)
+ {
+ ctx.pos_request = pos;
+ FSM_HANDLE (AI, clamp_move);
+ }
+}
+
+/** Find next position and start motors. */
+static void
+clamp_route (void)
+{
+ uint8_t pos_new;
+ uint8_t pos_current = ctx.pos_current;
+ uint8_t pos_request = ctx.pos_request;
+ /* Compute new position. */
+ if (CLAMP_IS_SLOT_IN_FRONT_BAY (pos_current))
+ {
+ if (!CLAMP_IS_SLOT_IN_FRONT_BAY (pos_request))
+ pos_new = CLAMP_BAY_FRONT_LEAVE;
+ else
+ pos_new = pos_request;
+ }
+ else if (CLAMP_IS_SLOT_IN_BACK_BAY (pos_current))
+ {
+ if (!CLAMP_IS_SLOT_IN_BACK_BAY (pos_request))
+ pos_new = CLAMP_BAY_BACK_LEAVE;
+ else
+ pos_new = pos_request;
+ }
+ else if (pos_current == CLAMP_SLOT_SIDE)
+ {
+ pos_new = CLAMP_BAY_SIDE_ENTER_LEAVE;
+ }
+ else if (pos_current == CLAMP_BAY_FRONT_LEAVE)
+ {
+ if (pos_request == CLAMP_SLOT_SIDE)
+ pos_new = CLAMP_BAY_SIDE_ENTER_LEAVE;
+ else
+ pos_new = CLAMP_SLOT_BACK_MIDDLE;
+ }
+ else if (pos_current == CLAMP_BAY_BACK_LEAVE)
+ {
+ if (pos_request == CLAMP_SLOT_SIDE)
+ pos_new = CLAMP_BAY_SIDE_ENTER_LEAVE;
+ else
+ pos_new = CLAMP_SLOT_FRONT_MIDDLE;
+ }
+ else
+ {
+ assert (pos_current == CLAMP_BAY_SIDE_ENTER_LEAVE);
+ if (pos_request == CLAMP_SLOT_SIDE)
+ pos_new = pos_request;
+ else if (CLAMP_IS_SLOT_IN_FRONT_BAY (pos_request))
+ pos_new = CLAMP_SLOT_FRONT_MIDDLE;
+ else
+ pos_new = CLAMP_SLOT_BACK_MIDDLE;
+ }
+ /* Run motors. */
+ mimot_move_motor0_absolute (clamp_pos[pos_new][0],
+ BOT_CLAMP_ELEVATION_SPEED);
+ mimot_move_motor1_absolute (clamp_pos[pos_new][1],
+ BOT_CLAMP_ROTATION_SPEED);
+ /* Remember new position. */
+ ctx.pos_current = pos_new;
+}
+
+FSM_TRANS (CLAMP_IDLE, clamp_move, CLAMP_ROUTING)
+{
+ clamp_route ();
+ return FSM_NEXT (CLAMP_IDLE, clamp_move);
+}
+
+FSM_TRANS (CLAMP_ROUTING, clamp_elevation_rotation_success,
+ done, CLAMP_IDLE,
+ next, CLAMP_ROUTING)
+{
+ if (ctx.pos_current == ctx.pos_request)
+ {
+ return FSM_NEXT (CLAMP_ROUTING, clamp_elevation_rotation_success,
+ done);
+ }
+ else
+ {
+ clamp_route ();
+ return FSM_NEXT (CLAMP_ROUTING, clamp_elevation_rotation_success,
+ next);
+ }
+}
+