Slingingmudsm C

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\SlingingMudSM.
c
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/****************************************************************************
Module
SlingingMudSM.c
Revision
1.0
Description
Author
Anne Alter, Derrick Contreras
Date
2/14/16
****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
//headers for framework
#include "ES_Configure.h"
#include "ES_Framework.h"
#include "TemplateService.h"
#include "termio.h"
//headers to access the pwm and nvic libraries
#include "inc/hw_timer.h"
#include "inc/hw_nvic.h"
#include "inc/hw_pwm.h"
//headers to access the GPIO subsystem
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_gpio.h"
#include "inc/hw_sysctl.h"
#include "inc/hw_ssi.h"
//headers to access the TivaWare Library

#include "driverlib/sysctl.h"
#include "driverlib/pin_map.h"
#include "driverlib/gpio.h"
#include "driverlib/timer.h"
#include "driverlib/interrupt.h"
//headers for other modules in the program

#include "SlingingMudSM.h"
#include "DriveService.h"
#include "InterruptService.h"
#include "PoundDefines.h"
#include "PWMService.h"
#include "MasterSM.h"
/*----------------------------- Module Defines ----------------------------*/

#define ENTRY_STATE AttackTurning
/*---------------------------- Module Functions ---------------------------*/
static ES_Event DuringAttackTurning(ES_Event Event);
static ES_Event DuringLaunching(ES_Event Event);
static ES_Event DuringAttackForward(ES_Event Event);
static ES_Event DuringAttackTurnAround(ES_Event Event);
/*---------------------------- Module Variables ---------------------------*/
static CurrentSlingingMudState_t CurrentSlingingMudState;
static uint32_t BeaconPeriod = 0;
static uint32_t FlywheelDutyCycle;
static uint8_t BallsDispensed = 0;
static uint8_t BeaconCounter = 0;
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
RunSlingingMudSM
W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\SlingingMudSM.c
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Parameters
ES_Event : the event to process
Returns
ES_Event, ES_NO_EVENT if no error ES_ERROR otherwise
Description
add your description here
Author
****************************************************************************/
ES_Event RunSlingingMudSM(ES_Event CurrentEvent)
{
//Local Variables: MakeTransition, NextState, EntryEventKind, ReturnEvent
bool MakeTransition = false;
CurrentSlingingMudState_t NextState = CurrentSlingingMudState;
ES_Event EntryEventKind = {ES_ENTRY, 0};
ES_Event ReturnEvent = CurrentEvent;
//Switch CurrentSlingingMudState
switch(CurrentSlingingMudState)
{
//Case AttackTurning:
case AttackTurning:
//Set CurrentEvent to DuringAttackTurning
CurrentEvent = DuringAttackTurning(CurrentEvent);
//If CurrentEvent.EventType is ES_NO_EVENT
if(CurrentEvent.EventType != ES_NO_EVENT)
{
//Switch CurrentEvent.EventType
switch(CurrentEvent.EventType)
{
case ES_TIMEOUT:
if(CurrentEvent.EventParam == BEACON_TIMER)
{
//query beacon interrupt for beacon period
BeaconPeriod = QueryBeaconPeriod();
printf("BEACON PERIOD : %d \r\n", BeaconPeriod);
//if period is correct and we are RED, then transition to launching
if((BeaconPeriod <= BLUE_ATTACK_BUCKET + ATTACK_ERROR) && (BeaconPeriod >=
BLUE_ATTACK_BUCKET - ATTACK_ERROR) && ((HWREG(GPIO_PORTE_BASE+(GPIO_O_DATA+ALL_BITS)) & (COLOR)) ==
COLOR))
{
BeaconCounter++;
ES_Timer_InitTimer(BEACON_TIMER, BEACON_TIME);
if(BeaconCounter == RED_BEACON_SAMPLES)
{
printf("CORRECT PERIOD -- TRANSITION TO LAUNCHING -- RED COLOR \r\n");
//NextState is AttackDriving
NextState = Launching;
//MakeTransition is True
MakeTransition = true;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY_HISTORY;
}
BeaconCounter = 0;
}
//else if period is correct and we are BLUE, transition to launching
else if((BeaconPeriod <= RED_ATTACK_BUCKET + ATTACK_ERROR) && (BeaconPeriod >=
RED_ATTACK_BUCKET - ATTACK_ERROR) && ((HWREG(GPIO_PORTE_BASE+(GPIO_O_DATA+ALL_BITS)) & (COLOR)) !=
COLOR))
{
BeaconCounter++;
if(BeaconCounter == BLUE_BEACON_SAMPLES)
{
printf("CORRECT PERIOD -- TRANSITION TO LAUNCHING -- BLUE COLOR \r\n");
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Page 3
NextState = AttackForward;
}
break;
BeaconCounter = 0;
}
//else re initialize timer and stay in attack turning
else
{
//printf("INCORRECT PERIOD -- REINIT TIMER\r\n");
//reinitialize beacon timer
BeaconCounter = 0;
NextState = AttackTurning;
MakeTransition = false;
}
case AttackForward:
//printf("LAUNCHING\r\n");
//Set Current Event to DuringLaunching
CurrentEvent = DuringAttackForward(CurrentEvent);
{
{
//Case: ES_TIMEOUT event with param LAUNCH_TIMER
case ES_TIMEOUT:
if(CurrentEvent.EventParam == DRIVE_FORWARD)
{
//NextState is AttackLaunched
EntryEventKind.EventType = ES_ENTRY;
}
break;
}
}
break;
//Case Launching:
case Launching:
//printf("LAUNCHING\r\n");
//Set Current Event to DuringLaunching
CurrentEvent = DuringLaunching(CurrentEvent);
{
{
//Case: ES_TIMEOUT event with param LAUNCH_TIMER
case ES_TIMEOUT:
if(CurrentEvent.EventParam == LAUNCH_TIMER)
{
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}
break;
}
}
break;
case BUMP:
NextState = AttackTurnAround;
break;
case AttackTurnAround:
//Set CurrentEvent to DuringBumperTurnAround
CurrentEvent = DuringAttackTurnAround(CurrentEvent);
{
{
case ES_TIMEOUT:
if(CurrentEvent.EventParam == REVERSE_TIMER)
{
AttackTurn180();
printf("TURN 180 FROM DRIVE ALONG TRAIL \r\n");
//NextState is BumperTurnAround
}
else if (CurrentEvent.EventParam == ROTATION_TIMER)
{
//stop
Stop();
printf("STOP FROM DRIVE ALONG TRAIL \r\n");
//NextState is Driving
//post attack launched event
CurrentEvent.EventType = ATTACK_LAUNCHED;
PostMasterSM(CurrentEvent);
}
}
break;
}
break;
}
//If MakeTransition is true
if(MakeTransition == true)
{
//Execute exit function for current state
CurrentEvent.EventType = ES_EXIT;
//Call SlingingMudSM function
StartSlingingMudSM(CurrentEvent);
//CurrentSlingingMudState equals NextState
CurrentSlingingMudState = NextState;
//Execute entry function for current state
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RunSlingingMudSM(EntryEventKind);
//return ReturnEvent
return(ReturnEvent);
}
/****************************************************************************
Function
StartSlingingMudSM
Parameters
None
Returns
None
Description
Does any required initialization for SM
Author
****************************************************************************/
void StartSlingingMudSM(ES_Event CurrentEvent)
{
//If ES_ENTRY_HISTORY does not equal CurrentEvent.EventType
if(ES_ENTRY_HISTORY != CurrentEvent.EventType)
{
//call the entry state for the state machine
CurrentSlingingMudState = ENTRY_STATE;
}
//call the entry function for the entry state
RunSlingingMudSM(CurrentEvent);
}
/****************************************************************************
Function
QuerySlingingMudSM
Parameters
None
Returns
The current state of the state machine
Description
Returns the current state of the state machine
Author
****************************************************************************/
CurrentSlingingMudState_t QuerySlingingMud(void)
{
return(CurrentSlingingMudState);
}
/*------------------------------ Private Functions ------------------------------*/
/****************************************************************************
Function
DuringAttackTurning
Parameters
ES_Event
Returns
ES_Event
Description
Processes entry, exit, and lower level events for the SM
Author
****************************************************************************/
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Page 6
static ES_Event DuringAttackTurning(ES_Event Event)

{
//Define ReturnEvent
ES_Event ReturnEvent = Event;
//If ES_ENTRY event

if((Event.EventType == ES_ENTRY) || (Event.EventType == ES_ENTRY_HISTORY))
{
//start turning
Rotate();
}
else if(Event.EventType == ES_EXIT)
{
}
else
{
}
//Return ReturnEvent
return ReturnEvent;
/****************************************************************************
Function
DuringLaunching
Parameters
ES_Event
Returns
ES_Event
Description
Author
****************************************************************************/
static ES_Event DuringLaunching(ES_Event Event)
{
//If ES_ENTRY event
{
printf("LAUNCHING ENTRY -- STOP, DISABLE BECON INTERRUPT \r\n");
//disable beacon interrupt
HWREG(WTIMER2_BASE+TIMER_O_IMR) &= ~TIMER_IMR_CAEIM;
//stop
Stop();
//start flywheel
SetFlywheelDuty(MAX_FLYWHEEL_DUTY);
//init launch timer

ES_Timer_InitTimer(LAUNCH_TIMER, LAUNCH_TIME);
}
{
}
else
{
//FlywheelDutyCycle = 100 - (QueryFlywheelPeriod()*200/(8*((ServoPeriodInMs * PWMTicksPerMS)-1)));
int32_t Period = QueryFlywheelPeriod();
FlywheelDutyCycle = 60000000/(QueryFlywheelPeriod()*TICKS_PER_REV);
printf("%d; %d\n\r", FlywheelDutyCycle, Period);
if(BallsDispensed == 0)
{
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printf("Balls Dispensed: %d \r\n", BallsDispensed);

if((FlywheelDutyCycle == RED_DUTY_CYCLE) && ((HWREG(GPIO_PORTE_BASE+(GPIO_O_DATA+ALL_BITS)) &
(COLOR)) != COLOR))
{
printf("WE ARE BLUE\r\n");
//dispense single ball
SetServoAngle(DISPENSE_ANGLE);
BallsDispensed++;
//initialize timer to delay state change to drive along trail
ES_Timer_InitTimer(LAUNCH_DELAY_TIMER, DELAY_TIME);
}
else if ((FlywheelDutyCycle == BLUE_DUTY_CYCLE) &&
~((HWREG(GPIO_PORTE_BASE+(GPIO_O_DATA+ALL_BITS)) & (COLOR)) == COLOR))
{
printf("WE ARE RED\r\n");
BallsDispensed++;
}
else
{
//initialize timer to launch time to coninue checking rpm
}
}
else if ((BallsDispensed == 1) && (Event.EventType == ES_TIMEOUT) && (Event.EventParam ==
LAUNCH_DELAY_TIMER))
{
ES_Timer_InitTimer(LAUNCH_DELAY_TIMER, WAITING_BETWEEN_SHOTS);
SetFlywheelDuty(0);
SetServoAngle(RESET_ANGLE);
BallsDispensed++;
}
{
SetFlywheelDuty(MAX_FLYWHEEL_DUTY);
BallsDispensed++;
}
LAUNCH_TIMER))
{
if((FlywheelDutyCycle == RED_DUTY_CYCLE) && ((HWREG(GPIO_PORTE_BASE+(GPIO_O_DATA+ALL_BITS)) &
(COLOR)) != COLOR))
{
printf("WE ARE BLUE\r\n");
BallsDispensed++;
}
else if ((FlywheelDutyCycle == BLUE_DUTY_CYCLE) &&
~((HWREG(GPIO_PORTE_BASE+(GPIO_O_DATA+ALL_BITS)) & (COLOR)) == COLOR))
{
printf("WE ARE RED\r\n");
BallsDispensed++;
}
else
{
//initialize timer to launch time to coninue checking rpm
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}
{
ReturnEvent.EventType = BUMP;
SetServoAngle(RESET_ANGLE);
BallsDispensed = 0;
}
}
return ReturnEvent;
/****************************************************************************
Function
DuringAttackForward
Parameters
ES_Event
Returns
ES_Event
Description
Author
****************************************************************************/
static ES_Event DuringAttackForward(ES_Event Event)
{
//If ES_ENTRY event
{
//initialize drive forward timer
ES_Timer_InitTimer(DRIVE_FORWARD, FORWARD_TIME);
//drive forward
DriveForward();
printf("attack forward entry\r\n");
}
{
//Stop motors
Stop();
}
else
{
}
}
return ReturnEvent;
/****************************************************************************
Function
DuringDriveTurnAround
Parameters
ES_Event
Returns
ES_Event
Description
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Author
****************************************************************************/
static ES_Event DuringAttackTurnAround(ES_Event Event)
{
//If ES_ENTRY event
{
printf("REVERSE CALLED IN ATTACK TURN AROUND \r\n");
Reverse();
}
{
}
else
{
}
}
return ReturnEvent;

Slingingmudsm C

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W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\SlingingMudSM.

//headers to access the TivaWare Library

//headers for other modules in the program

/----------------------------- Module Defines ----------------------------/

static ES_Event DuringAttackTurning(ES_Event Event)

//If ES_ENTRY event

//init launch timer

printf("Balls Dispensed: %d \r\n", BallsDispensed);

Processes entry, exit, and lower level events for the SM

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