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-rw-r--r--digital/io-hub/src/apbirthday/Makefile2
-rw-r--r--digital/io-hub/src/apbirthday/plate.cc140
-rw-r--r--digital/io-hub/src/apbirthday/plate.hh38
-rw-r--r--digital/io-hub/src/apbirthday/robot.hh3
4 files changed, 182 insertions, 1 deletions
diff --git a/digital/io-hub/src/apbirthday/Makefile b/digital/io-hub/src/apbirthday/Makefile
index 6b87fb4c..19296e0f 100644
--- a/digital/io-hub/src/apbirthday/Makefile
+++ b/digital/io-hub/src/apbirthday/Makefile
@@ -9,7 +9,7 @@ apbirthday_SOURCES = main.cc robot.cc hardware.host.cc hardware.stm32.cc \
pressure.cc chrono.host.cc chrono.stm32.cc debounce.cc \
radar.cc radar_2013.cc obstacles.cc path.cc strat.cc \
outputs.cc \
- top.cc init.cc move.cc candles.cc drinks.cc \
+ top.cc init.cc move.cc candles.cc drinks.cc plate.cc \
angfsm.host.c angfsm_gen_arm_AI.arm.c fsm_queue.cc \
$(AVR_SOURCES)
diff --git a/digital/io-hub/src/apbirthday/plate.cc b/digital/io-hub/src/apbirthday/plate.cc
new file mode 100644
index 00000000..46918753
--- /dev/null
+++ b/digital/io-hub/src/apbirthday/plate.cc
@@ -0,0 +1,140 @@
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Jerome Jutteau
+//
+// 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 "robot.hh"
+#include "defs.hh"
+#include "plate.hh"
+
+extern "C" {
+#define ANGFSM_NAME AI
+#include "angfsm.h"
+}
+
+inline void Plate::arm_down ()
+{
+ robot->hardware.cherry_plate_down.set (true);
+ robot->hardware.cherry_plate_up.set (false);
+}
+
+inline void Plate::arm_up ()
+{
+ robot->hardware.cherry_plate_down.set (false);
+ robot->hardware.cherry_plate_up.set (true);
+}
+
+inline void Plate::clamp_open ()
+{
+ robot->hardware.cherry_plate_clamp.set (true);
+}
+
+inline void Plate::clamp_close ()
+{
+ robot->hardware.cherry_plate_clamp.set (false);
+}
+
+FSM_STATES (PLATE_OFF,
+ PLATE_INIT_PREPARE,
+ PLATE_INIT_TAKING,
+ PLATE_INIT_UPING,
+ PLATE_INIT_DOWNING,
+ PLATE_READY,
+ PLATE_TAKE_GLUE,
+ PLATE_TAKE_UPING,
+ PLATE_I_HAZ_PLATE,
+ PLATE_DROP_DOWNING,
+ PLATE_DROP_OPENING
+ )
+
+FSM_EVENTS (plate_take,
+ plate_taken,
+ plate_drop,
+ plate_droped)
+
+FSM_START_WITH (PLATE_OFF)
+
+FSM_TRANS (PLATE_OFF, init_actuators, PLATE_INIT_PREPARE)
+{
+ Plate::arm_down ();
+ Plate::clamp_open ();
+}
+
+FSM_TRANS_TIMEOUT (PLATE_INIT_PREPARE, 100, PLATE_INIT_TAKING)
+{
+ Plate::clamp_close ();
+}
+
+FSM_TRANS_TIMEOUT (PLATE_INIT_TAKING, 100, PLATE_INIT_UPING)
+{
+ Plate::arm_up ();
+}
+
+FSM_TRANS_TIMEOUT (PLATE_INIT_UPING, 100, PLATE_INIT_DOWNING)
+{
+ Plate::arm_down ();
+}
+
+FSM_TRANS_TIMEOUT (PLATE_INIT_DOWNING, 100, PLATE_READY)
+{
+ Plate::clamp_open ();
+}
+
+FSM_TRANS (PLATE_READY, plate_drop, PLATE_READY)
+{
+ robot->fsm_queue.post (FSM_EVENT (plate_droped));
+}
+
+FSM_TRANS (PLATE_READY, plate_take, PLATE_TAKE_GLUE)
+{
+ Plate::clamp_close ();
+}
+
+FSM_TRANS_TIMEOUT (PLATE_TAKE_GLUE, 100, PLATE_TAKE_UPING)
+{
+ Plate::arm_up ();
+}
+
+FSM_TRANS_TIMEOUT (PLATE_TAKE_UPING, 100, PLATE_I_HAZ_PLATE)
+{
+ robot->fsm_queue.post (FSM_EVENT (plate_taken));
+}
+
+FSM_TRANS (PLATE_I_HAZ_PLATE, plate_take, PLATE_I_HAZ_PLATE)
+{
+ robot->fsm_queue.post (FSM_EVENT (plate_taken));
+}
+
+FSM_TRANS (PLATE_I_HAZ_PLATE, plate_drop, PLATE_DROP_DOWNING)
+{
+ Plate::arm_down ();
+}
+
+FSM_TRANS_TIMEOUT (PLATE_DROP_DOWNING, 100, PLATE_DROP_OPENING)
+{
+ Plate::clamp_open ();
+}
+
+FSM_TRANS_TIMEOUT (PLATE_DROP_OPENING, 100, PLATE_READY)
+{
+ robot->fsm_queue.post (FSM_EVENT (plate_droped));
+}
diff --git a/digital/io-hub/src/apbirthday/plate.hh b/digital/io-hub/src/apbirthday/plate.hh
new file mode 100644
index 00000000..2740b001
--- /dev/null
+++ b/digital/io-hub/src/apbirthday/plate.hh
@@ -0,0 +1,38 @@
+#ifndef plate_hh
+#define plate_hh
+
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Jerome Jutteau
+//
+// 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.
+//
+// }}}
+
+class Plate
+{
+ public:
+ // GPIO manipulation.
+ static void arm_down ();
+ static void arm_up ();
+ static void clamp_open ();
+ static void clamp_close ();
+};
+
+#endif // plate_hh
diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh
index 95cf16c3..30dabc90 100644
--- a/digital/io-hub/src/apbirthday/robot.hh
+++ b/digital/io-hub/src/apbirthday/robot.hh
@@ -39,6 +39,7 @@
#include "strat.hh"
#include "candles.hh"
#include "drinks.hh"
+#include "plate.hh"
#include "ucoolib/base/proto/proto.hh"
#include "ucoolib/dev/usdist/usdist.hh"
@@ -104,6 +105,8 @@ class Robot : public ucoo::Proto::Handler
Candles candles;
/// Drinks.
Drinks drinks;
+ /// Plate.
+ Plate plate;
private:
/// FSM debug mode.
enum FsmDebugState