2 * Copyright Droids, Microb Technology (2009)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
20 * Olivier MATZ <zer0@droids-corp.org>
28 #include <aversive/pgmspace.h>
29 #include <aversive/queue.h>
30 #include <aversive/wait.h>
31 #include <aversive/error.h>
36 #include <clock_time.h>
41 #include <control_system_manager.h>
42 #include <trajectory_manager.h>
43 #include <vect_base.h>
46 #include <obstacle_avoidance.h>
47 #include <blocking_detection_manager.h>
48 #include <robot_system.h>
49 #include <position_manager.h>
51 #include <diagnostic.h>
56 #include "../common/i2c_commands.h"
57 #include "i2c_protocol.h"
61 #include "strat_base.h"
62 #include "strat_corn.h"
63 #include "strat_utils.h"
67 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
68 #define COL_SCAN_PRE_MARGIN 250
70 static volatile uint8_t strat_running = 0;
71 struct strat_conf strat_conf;
73 /*************************************************************/
77 /*************************************************************/
79 /* called before each strat, and before the start switch */
80 void strat_preinit(void)
83 interrupt_traj_reset();
84 mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
85 DO_POS | DO_BD | DO_POWER;
87 //i2c_cobboard_mode_init();
88 strat_conf_dump(__FUNCTION__);
89 strat_db_dump(__FUNCTION__);
92 void strat_conf_dump(const char *caller)
94 if (!strat_conf.dump_enabled)
97 printf_P(PSTR("-- conf --\r\n"));
101 void strat_event_enable(void)
106 void strat_event_disable(void)
111 /* call it just before launching the strat */
112 void strat_init(void)
115 position_set(&mainboard.pos, 298.16,
116 COLOR_Y(308.78), COLOR_A(70.00));
119 /* we consider that the color is correctly set */
122 strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
124 interrupt_traj_reset();
126 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
127 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
129 /* used in strat_base for END_TIMER */
130 mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
131 DO_POS | DO_BD | DO_TIMER | DO_POWER;
134 /* call it after each strat */
135 void strat_exit(void)
142 mainboard.flags &= ~(DO_TIMER);
148 mainboard.flags &= ~(DO_CS);
150 pwm_ng_set(LEFT_PWM, 0);
151 pwm_ng_set(RIGHT_PWM, 0);
155 /* called periodically (10ms) */
156 void strat_event(void *dummy)
162 /* ignore when strat is not running */
163 if (strat_running == 0)
167 lcob = ballboard.lcob;
168 ballboard.lcob = I2C_COB_NONE;
169 rcob = ballboard.rcob;
170 ballboard.rcob = I2C_COB_NONE;
173 /* XXX take opponent position into account */
176 if (time_get_s() == 15)
177 cobboard.cob_count = 5;
178 if (time_get_s() == 16)
179 cobboard.cob_count = 0;
180 if (time_get_s() == 25)
181 cobboard.cob_count = 5;
184 /* detect cob on left side */
185 if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
186 if (lcob != I2C_COB_NONE)
187 corn_set_color(strat_db.corn_table[lidx], lcob);
189 if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
190 i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
192 i2c_cobboard_deploy(I2C_LEFT_SIDE);
195 i2c_cobboard_deploy(I2C_LEFT_SIDE);
198 /* detect cob on right side */
199 if (corn_is_near(&ridx, I2C_RIGHT_SIDE)) {
200 if (rcob != I2C_COB_NONE)
201 corn_set_color(strat_db.corn_table[ridx], rcob);
203 if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
204 i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
206 i2c_cobboard_deploy(I2C_RIGHT_SIDE);
209 i2c_cobboard_deploy(I2C_RIGHT_SIDE);
213 /* limit speed when opponent is close */
218 static uint8_t strat_harvest(void)
223 static uint8_t strat_eject(void)
228 strat_set_speed(600, SPEED_ANGLE_SLOW);
230 trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
231 err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
232 trajectory_a_abs(&mainboard.traj, COLOR_A(70));
233 err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
235 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
239 trajectory_a_abs(&mainboard.traj, COLOR_A(90));
240 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
244 i2c_cobboard_pack(I2C_LEFT_SIDE);
245 i2c_cobboard_pack(I2C_RIGHT_SIDE);
246 trajectory_a_rel(&mainboard.traj, COLOR_A(180));
247 err = wait_traj_end(END_INTR|END_TRAJ);
250 trajectory_d_rel(&mainboard.traj, -100);
251 err = wait_traj_end(END_INTR|END_TRAJ);
252 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
258 static uint8_t strat_beginning(void)
262 strat_set_acc(ACC_DIST, ACC_ANGLE);
264 strat_set_speed(600, SPEED_ANGLE_FAST);
267 strat_set_speed(250, SPEED_ANGLE_FAST);
270 // strat_set_speed(600, 60); /* OK */
271 strat_set_speed(250, 28); /* OK */
273 trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
274 err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
277 strat_set_acc(ACC_DIST, ACC_ANGLE);
278 strat_set_speed(250, SPEED_ANGLE_SLOW);
282 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
283 if (get_cob_count() >= 5)
284 strat_set_speed(600, SPEED_ANGLE_FAST);
286 err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
287 if (!TRAJ_SUCCESS(err)) {
294 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
295 if (get_cob_count() >= 5)
296 strat_set_speed(600, SPEED_ANGLE_FAST);
298 err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
299 if (!TRAJ_SUCCESS(err)) {
306 strat_set_speed(600, SPEED_ANGLE_FAST);
307 err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
308 err = line2line(LINE_R_DOWN, 3, LINE_R_UP, 2);
309 err = line2line(LINE_R_UP, 2, LINE_R_DOWN, 2);
310 err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 3);
311 err = line2line(LINE_R_UP, 3, LINE_UP, 5);
312 err = line2line(LINE_UP, 5, LINE_L_DOWN, 2);
313 err = line2line(LINE_L_DOWN, 2, LINE_L_UP, 1);
314 err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
315 err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
323 strat_set_speed(250, SPEED_ANGLE_FAST);
326 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
327 if (get_cob_count() >= 5)
328 strat_set_speed(600, SPEED_ANGLE_FAST);
330 err = line2line(LINE_DOWN, 5, LINE_L_UP, 2);
331 if (!TRAJ_SUCCESS(err)) {
338 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
339 if (get_cob_count() >= 5)
340 strat_set_speed(600, SPEED_ANGLE_FAST);
342 err = line2line(LINE_L_UP, 2, LINE_R_UP, 2);
343 if (!TRAJ_SUCCESS(err)) {
349 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
350 if (get_cob_count() >= 5)
351 strat_set_speed(600, SPEED_ANGLE_FAST);
353 WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
360 /* dump state (every 5 s max) */
361 #define DUMP_RATE_LIMIT(dump, last_print) \
363 if (time_get_s() - last_print > 5) { \
365 last_print = time_get_s(); \
370 /* return true if we need to grab some more elements */
371 static uint8_t need_more_elements(void)
373 if (time_get_s() <= 75) {
374 /* we have enough time left */
375 if (get_ball_count() >= 4)
377 if (get_cob_count() >= 4)
379 if ((get_ball_count() >= 2) &&
380 (get_cob_count() >= 2))
385 /* not much time remaining */
386 if ((get_ball_count() >= 1) &&
387 (get_cob_count() >= 1))
393 uint8_t strat_main(void)
397 /* harvest the first cobs + balls */
398 err = strat_beginning();
401 /* end of time exit ! */
402 if (err == END_TIMER) {
403 DEBUG(E_USER_STRAT, "End of time");
408 if (need_more_elements() == 0) {
409 /* we have enough elements, go to eject */
411 if (!TRAJ_SUCCESS(err))
416 err = strat_harvest();
417 if (!TRAJ_SUCCESS(err))