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Add floppy stepper motor state generator

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Brad Grantham 2020-12-31 11:01:56 -08:00
parent 915a359215
commit 0ac1fc7ee8
1 changed files with 125 additions and 0 deletions
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generate_floppy_motor_state.cpp Normal file
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#include <string>
#include <array>
#include <tuple>
#include <cstdint>
#include <cstdio>
std::string expandTransitionToString(uint8_t transition)
{
static char reason[512];
sprintf(reason, "0x%02X, %d,%d,%d,%d to %d,%d,%d,%d",
transition,
(transition >> 7) & 1, (transition >> 6) & 1, (transition >> 5) & 1, (transition >> 4) & 1,
(transition >> 3) & 1, (transition >> 2) & 1, (transition >> 1) & 1, (transition >> 0) & 1);
return reason;
}
uint8_t motorOnToState(int which)
{
return 1 << (3 - which);
}
uint8_t makeTransition(uint8_t oldState, uint8_t newState)
{
return (oldState << 4) | newState;
}
int main()
{
std::array<std::tuple<std::string, std::string>, 256> transitions;
// initialize to invalid states
for(int transition = 0; transition < 256; transition++) {
transitions[transition] = {"MOTOR_STATE_NEVER", expandTransitionToString(transition)};
}
for(int turnOn = 0; turnOn < 4; turnOn++) {
//step right from aligned to between
{
int wasOn = (turnOn - 1 + 4) % 4;
uint8_t oldState = motorOnToState(wasOn);
uint8_t newState = oldState | motorOnToState(turnOn);
uint8_t transition = makeTransition(oldState, newState);
transitions[transition] = {"MOTOR_RIGHT_ONE", expandTransitionToString(transition)};
}
//step left from aligned to between
{
int wasOn = (turnOn + 1) % 4;
uint8_t oldState = motorOnToState(wasOn);
uint8_t newState = oldState | motorOnToState(turnOn);
uint8_t transition = makeTransition(oldState, newState);
transitions[transition] = {"MOTOR_LEFT_ONE", expandTransitionToString(transition)};
}
//step right from aligned to aligned
{
int wasOn = (turnOn - 1 + 4) % 4;
uint8_t oldState = motorOnToState(wasOn);
uint8_t newState = motorOnToState(turnOn);
uint8_t transition = makeTransition(oldState, newState);
transitions[transition] = {"MOTOR_RIGHT_TWO", expandTransitionToString(transition)};
}
//step left from aligned to aligned
{
int wasOn = (turnOn + 1) % 4;
uint8_t oldState = motorOnToState(wasOn);
uint8_t newState = motorOnToState(turnOn);
uint8_t transition = makeTransition(oldState, newState);
transitions[transition] = {"MOTOR_LEFT_TWO", expandTransitionToString(transition)};
}
// no magnets energized, energize one
{
uint8_t oldState = 0;
uint8_t newState = motorOnToState(turnOn);
uint8_t transition = makeTransition(oldState, newState);
transitions[transition] = {"MOTOR_SNAP", expandTransitionToString(transition)};
}
}
for(int turnOff = 0; turnOff < 4; turnOff++) {
{ //step right from between to aligned
int remainsOn = (turnOff + 1) % 4;
uint8_t oldState = motorOnToState(remainsOn) | motorOnToState(turnOff);
uint8_t newState = motorOnToState(remainsOn);
uint8_t transition = makeTransition(oldState, newState);
transitions[transition] = {"MOTOR_RIGHT_ONE", expandTransitionToString(transition)};
}
{ //step left from between to aligned
int remainsOn = (turnOff - 1 + 4) % 4;
uint8_t oldState = motorOnToState(remainsOn) | motorOnToState(turnOff);
uint8_t newState = motorOnToState(remainsOn);
uint8_t transition = makeTransition(oldState, newState);
transitions[transition] = {"MOTOR_LEFT_ONE", expandTransitionToString(transition)};
}
{ //turn off remaining magnet
int wasOn = (turnOff + 1) % 4;
uint8_t oldState = motorOnToState(wasOn);
uint8_t newState = 0;
uint8_t transition = makeTransition(oldState, newState);
transitions[transition] = {"MOTOR_NONE", expandTransitionToString(transition)};
}
}
puts(R"(enum MotorAction
{
MOTOR_RIGHT_ONE, /* headPosition += 1; */
MOTOR_RIGHT_TWO, /* headPosition += 2; */
MOTOR_LEFT_ONE, /* headPosition -= 1; */
MOTOR_LEFT_TWO, /* headPosition -= 2; */
MOTOR_NONE, /* nothing */
MOTOR_SNAP, /* calculate which way head moves from magnet and head position */
MOTOR_STATE_NEVER, /* should never get this transition */
};
enum motorActions[256] =
{)");
for(const auto& [action, reason] : transitions) {
printf(" %-18s, // %s\n", action.c_str(), reason.c_str());
}
puts("};");
}