126 lines
4.6 KiB
C++
126 lines
4.6 KiB
C++
#include <string>
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#include <array>
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#include <tuple>
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#include <cstdint>
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#include <cstdio>
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std::string expandTransitionToString(uint8_t transition)
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{
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static char reason[512];
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sprintf(reason, "0x%02X, %d,%d,%d,%d to %d,%d,%d,%d",
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transition,
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(transition >> 7) & 1, (transition >> 6) & 1, (transition >> 5) & 1, (transition >> 4) & 1,
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(transition >> 3) & 1, (transition >> 2) & 1, (transition >> 1) & 1, (transition >> 0) & 1);
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return reason;
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}
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uint8_t motorOnToState(int which)
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{
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return 1 << (3 - which);
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}
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uint8_t makeTransition(uint8_t oldState, uint8_t newState)
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{
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return (oldState << 4) | newState;
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}
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int main()
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{
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std::array<std::tuple<std::string, std::string>, 256> transitions;
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// initialize to invalid states
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for(int transition = 0; transition < 256; transition++) {
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transitions[transition] = {"MOTOR_STATE_NEVER", expandTransitionToString(transition)};
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}
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for(int turnOn = 0; turnOn < 4; turnOn++) {
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//step right from aligned to between
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{
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int wasOn = (turnOn - 1 + 4) % 4;
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uint8_t oldState = motorOnToState(wasOn);
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uint8_t newState = oldState | motorOnToState(turnOn);
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uint8_t transition = makeTransition(oldState, newState);
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transitions[transition] = {"MOTOR_RIGHT_ONE", expandTransitionToString(transition)};
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}
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//step left from aligned to between
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{
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int wasOn = (turnOn + 1) % 4;
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uint8_t oldState = motorOnToState(wasOn);
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uint8_t newState = oldState | motorOnToState(turnOn);
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uint8_t transition = makeTransition(oldState, newState);
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transitions[transition] = {"MOTOR_LEFT_ONE", expandTransitionToString(transition)};
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}
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//step right from aligned to aligned
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{
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int wasOn = (turnOn - 1 + 4) % 4;
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uint8_t oldState = motorOnToState(wasOn);
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uint8_t newState = motorOnToState(turnOn);
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uint8_t transition = makeTransition(oldState, newState);
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transitions[transition] = {"MOTOR_RIGHT_TWO", expandTransitionToString(transition)};
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}
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//step left from aligned to aligned
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{
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int wasOn = (turnOn + 1) % 4;
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uint8_t oldState = motorOnToState(wasOn);
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uint8_t newState = motorOnToState(turnOn);
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uint8_t transition = makeTransition(oldState, newState);
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transitions[transition] = {"MOTOR_LEFT_TWO", expandTransitionToString(transition)};
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}
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// no magnets energized, energize one
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{
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uint8_t oldState = 0;
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uint8_t newState = motorOnToState(turnOn);
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uint8_t transition = makeTransition(oldState, newState);
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transitions[transition] = {"MOTOR_SNAP", expandTransitionToString(transition)};
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}
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}
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for(int turnOff = 0; turnOff < 4; turnOff++) {
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{ //step right from between to aligned
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int remainsOn = (turnOff + 1) % 4;
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uint8_t oldState = motorOnToState(remainsOn) | motorOnToState(turnOff);
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uint8_t newState = motorOnToState(remainsOn);
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uint8_t transition = makeTransition(oldState, newState);
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transitions[transition] = {"MOTOR_RIGHT_ONE", expandTransitionToString(transition)};
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}
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{ //step left from between to aligned
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int remainsOn = (turnOff - 1 + 4) % 4;
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uint8_t oldState = motorOnToState(remainsOn) | motorOnToState(turnOff);
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uint8_t newState = motorOnToState(remainsOn);
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uint8_t transition = makeTransition(oldState, newState);
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transitions[transition] = {"MOTOR_LEFT_ONE", expandTransitionToString(transition)};
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}
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{ //turn off remaining magnet
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int wasOn = (turnOff + 1) % 4;
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uint8_t oldState = motorOnToState(wasOn);
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uint8_t newState = 0;
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uint8_t transition = makeTransition(oldState, newState);
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transitions[transition] = {"MOTOR_NONE", expandTransitionToString(transition)};
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}
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}
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puts(R"(enum MotorAction
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{
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MOTOR_RIGHT_ONE, /* headPosition += 1; */
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MOTOR_RIGHT_TWO, /* headPosition += 2; */
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MOTOR_LEFT_ONE, /* headPosition -= 1; */
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MOTOR_LEFT_TWO, /* headPosition -= 2; */
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MOTOR_NONE, /* nothing */
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MOTOR_SNAP, /* calculate which way head moves from magnet and head position */
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MOTOR_STATE_NEVER, /* should never get this transition */
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};
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enum motorActions[256] =
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{)");
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for(const auto& [action, reason] : transitions) {
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printf(" %-18s, // %s\n", action.c_str(), reason.c_str());
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}
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puts("};");
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}
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