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Implement sandstorm/cargo ship/rocket PLC outputs.

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This commit is contained in:
Patrick Fairbank
2019-08-08 22:41:51 -07:00
parent 5b66b5856d
commit 6efc3108e8
2 changed files with 43 additions and 17 deletions
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41
field/arena.go
View File

@@ -21,6 +21,7 @@ const (
dsPacketPeriodMs = 250
matchEndScoreDwellSec = 3
postTimeoutSec = 4
sandstormUpSec = 1
)
// Progression of match states.
@@ -196,9 +197,6 @@ func (arena *Arena) LoadMatch(match *model.Match) error {
arena.AllianceStationDisplayMode = "match"
arena.AllianceStationDisplayModeNotifier.Notify()
// Set the initial state of the lights.
arena.Plc.SetFieldResetLight(true)
return nil
}
@@ -463,8 +461,6 @@ func (arena *Arena) Update() {
if int(matchTimeSec) != int(arena.LastMatchTimeSec) || arena.MatchState != arena.lastMatchState {
arena.MatchTimeNotifier.Notify()
}
arena.LastMatchTimeSec = matchTimeSec
arena.lastMatchState = arena.MatchState
// Send a packet if at a period transition point or if it's been long enough since the last one.
if sendDsPacket || time.Since(arena.lastDsPacketTime).Seconds()*1000 >= dsPacketPeriodMs {
@@ -474,19 +470,12 @@ func (arena *Arena) Update() {
arena.handleSounds(matchTimeSec)
// Handle field sensors/lights/motors.
// Handle field sensors/lights/actuators.
arena.handlePlcInput()
arena.handleLeds()
arena.handlePlcOutput()
// Send a notification if there has been a change in score.
redScore := &arena.RedRealtimeScore.CurrentScore
oldRedScore := *redScore
blueScore := &arena.BlueRealtimeScore.CurrentScore
oldBlueScore := *blueScore
// TODO(pat): Fix this to work with manual scoring.
if !oldRedScore.Equals(redScore) || !oldBlueScore.Equals(blueScore) {
arena.RealtimeScoreNotifier.Notify()
}
arena.LastMatchTimeSec = matchTimeSec
arena.lastMatchState = arena.MatchState
}
// Loops indefinitely to track and update the arena components.
@@ -663,9 +652,12 @@ func (arena *Arena) handlePlcInput() {
}
}
func (arena *Arena) handleLeds() {
func (arena *Arena) handlePlcOutput() {
switch arena.MatchState {
case PreMatch:
if arena.lastMatchState != PreMatch {
arena.Plc.SetFieldResetLight(true)
}
fallthrough
case TimeoutActive:
fallthrough
@@ -685,6 +677,9 @@ func (arena *Arena) handleLeds() {
if redAllianceReady && blueAllianceReady {
arena.Plc.SetFieldResetLight(false)
}
arena.Plc.SetCargoShipMagnets(true)
arena.Plc.SetRocketLights(false, false)
case PostMatch:
if arena.FieldReset {
arena.Plc.SetFieldResetLight(true)
@@ -692,6 +687,18 @@ func (arena *Arena) handleLeds() {
scoreReady := arena.RedRealtimeScore.FoulsCommitted && arena.BlueRealtimeScore.FoulsCommitted &&
arena.alliancePostMatchScoreReady("red") && arena.alliancePostMatchScoreReady("blue")
arena.Plc.SetStackLights(false, false, !scoreReady, false)
arena.Plc.SetCargoShipMagnets(true)
arena.Plc.SetRocketLights(false, false)
case TeleopPeriod:
if arena.lastMatchState != TeleopPeriod {
arena.Plc.SetSandstormUp(true)
go func() {
time.Sleep(sandstormUpSec * time.Second)
arena.Plc.SetSandstormUp(false)
}()
}
arena.Plc.SetCargoShipMagnets(false)
arena.Plc.SetRocketLights(arena.RedScoreSummary().CompleteRocket, arena.BlueScoreSummary().CompleteRocket)
}
}

19
plc/plc.go
View File

@@ -181,6 +181,25 @@ func (plc *Plc) SetFieldResetLight(state bool) {
plc.coils[fieldResetLight] = state
}
func (plc *Plc) SetSandstormUp(state bool) {
plc.coils[sandstormUpRed] = state
plc.coils[sandstormUpBlue] = state
}
func (plc *Plc) SetCargoShipMagnets(state bool) {
plc.coils[cargoShipMagnetRed] = state
plc.coils[cargoShipMagnetBlue] = state
plc.coils[cargoShipLightRed] = state
plc.coils[cargoShipLightBlue] = state
}
func (plc *Plc) SetRocketLights(red, blue bool) {
plc.coils[rocketLightRedNear] = red
plc.coils[rocketLightRedFar] = red
plc.coils[rocketLightBlueNear] = blue
plc.coils[rocketLightBlueFar] = blue
}
func (plc *Plc) GetCycleState(max, index, duration int) bool {
return plc.cycleCounter/duration%max == index
}