X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;ds=sidebyside;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=b49cc7db55383ff8347540339b533303a9251df8;hb=5bb586ca948919ca9bfaa90e30126ad8ef229a1a;hp=1585734c9f9439b5cd0a79deeb9b30737b5ce8f7;hpb=4abb0bf96078e303a8f43a0ba020a1801b908ae4;p=aversive.git diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c index 1585734..b49cc7d 100644 --- a/projects/microb2010/mainboard/strat.c +++ b/projects/microb2010/mainboard/strat.c @@ -69,7 +69,7 @@ #define COL_SCAN_PRE_MARGIN 250 static volatile uint8_t strat_running = 0; -static volatile uint8_t want_pack = 0; +volatile uint8_t strat_want_pack = 0; volatile uint8_t strat_lpack60 = 0; volatile uint8_t strat_rpack60 = 0; struct strat_conf strat_conf; @@ -155,18 +155,33 @@ void strat_exit(void) #endif } -/* called periodically (10ms) */ -void strat_event(void *dummy) +/* mark tomato as not present */ +static void check_tomato(void) +{ + int16_t x, y; + uint8_t i, j; + + x = position_get_x_s16(&mainboard.pos); + y = position_get_y_s16(&mainboard.pos); + + if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) + return; + + if (strat_db.wp_table[i][j].type != WP_TYPE_TOMATO) + return; + + strat_db.wp_table[i][j].present = 0; +} + +/* mark corn as not present and give correct commands to the cobboard + * for spickles */ +static void check_corn(void) { uint8_t flags; int8_t lcob_near, rcob_near; uint8_t lcob, rcob; uint8_t lidx, ridx; - /* ignore when strat is not running */ - if (strat_running == 0) - return; - /* read sensors from ballboard */ IRQ_LOCK(flags); lcob = ballboard.lcob; @@ -188,8 +203,6 @@ void strat_event(void *dummy) cobboard.cob_count = 5; if (time_get_s() == 16) cobboard.cob_count = 0; - if (time_get_s() == 25) - cobboard.cob_count = 5; #endif /* detect cob on left side */ @@ -212,7 +225,7 @@ void strat_event(void *dummy) /* control the cobboard mode for left spickle */ if (lcob_near && strat_db.corn_table[lidx]->present) { - if (get_cob_count() >= 5 || want_pack || strat_lpack60) { + if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60) { /* nothing */ } else { @@ -228,15 +241,15 @@ void strat_event(void *dummy) } else { /* no cob near us, we can pack or deploy freely */ - if (get_cob_count() >= 5 || want_pack || strat_lpack60) - i2c_cobboard_pack(I2C_LEFT_SIDE); + if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60) + i2c_cobboard_pack_weak(I2C_LEFT_SIDE); else i2c_cobboard_deploy(I2C_LEFT_SIDE); } /* control the cobboard mode for right spickle */ if (rcob_near && strat_db.corn_table[ridx]->present) { - if (get_cob_count() >= 5 || want_pack || strat_rpack60) { + if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60) { /* nothing */ } else { @@ -252,35 +265,47 @@ void strat_event(void *dummy) } else { /* no cob near us, we can pack or deploy freely */ - if (get_cob_count() >= 5 || want_pack || strat_rpack60) - i2c_cobboard_pack(I2C_RIGHT_SIDE); + if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60) + i2c_cobboard_pack_weak(I2C_RIGHT_SIDE); else i2c_cobboard_deploy(I2C_RIGHT_SIDE); } - - /* limit speed when opponent is near */ - strat_limit_speed(); } - -static uint8_t strat_harvest(void) +/* called periodically (10ms) */ +void strat_event(void *dummy) { - return 0; + /* ignore when strat is not running */ + if (strat_running == 0) + return; + + check_tomato(); + check_corn(); + /* limit speed when opponent is near */ + //strat_limit_speed(); } + /* must be called from a terminal line */ static uint8_t strat_eject(void) { uint8_t err; + + /* XXX MUST be a on the line !! */ //XXX return vals + DEBUG(E_USER_STRAT, "%s()", __FUNCTION__); + /* go to eject point */ trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847)); err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5, TRAJ_FLAGS_NO_NEAR); + if (err != 0 && !TRAJ_SUCCESS(err)) + return err; + + strat_want_pack = 1; if (err == 0) { - want_pack = 1; - strat_set_speed(600, SPEED_ANGLE_SLOW); + strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW); err = wait_traj_end(TRAJ_FLAGS_NO_NEAR); } @@ -293,26 +318,42 @@ static uint8_t strat_eject(void) i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT); trajectory_a_abs(&mainboard.traj, COLOR_A(70)); err = wait_traj_end(TRAJ_FLAGS_NO_NEAR); + if (!TRAJ_SUCCESS(err)) + goto fail; DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__); strat_hardstop(); +#ifdef HOST_VERSION time_wait_ms(2000); +#else + WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY, + 2000); + WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY, + 2000); +#endif /* half turn */ trajectory_a_rel(&mainboard.traj, COLOR_A(180)); err = wait_traj_end(END_INTR|END_TRAJ); + if (!TRAJ_SUCCESS(err)) + goto fail; /* cob ejection */ trajectory_d_rel(&mainboard.traj, -70); err = wait_traj_end(END_INTR|END_TRAJ); + if (!TRAJ_SUCCESS(err)) + goto fail; i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT); strat_db_dump(__FUNCTION__); time_wait_ms(2000); + err = END_TRAJ; + + fail: strat_event_enable(); - want_pack = 0; - return 0; + strat_want_pack = 0; + return err; } static uint8_t strat_beginning(void) @@ -321,45 +362,21 @@ static uint8_t strat_beginning(void) strat_set_acc(ACC_DIST, ACC_ANGLE); strat_set_speed(600, 60); /* OK */ - //strat_set_speed(250, 28); /* OK */ trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20)); err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj), TRAJ_FLAGS_STD); strat_set_acc(ACC_DIST, ACC_ANGLE); - strat_set_speed(250, SPEED_ANGLE_SLOW); - - l1: - DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count()); - if (get_cob_count() >= 5) - strat_set_speed(600, SPEED_ANGLE_FAST); + strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW); - err = line2line(0, LINE_UP, 2, LINE_R_DOWN); - if (!TRAJ_SUCCESS(err)) { - strat_hardstop(); - time_wait_ms(2000); - goto l1; - } + err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR); + if (!TRAJ_SUCCESS(err)) + return err; - l2: - DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count()); - if (get_cob_count() >= 5) - strat_set_speed(600, SPEED_ANGLE_FAST); - - err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP); + err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR); if (!TRAJ_SUCCESS(err)) { - strat_hardstop(); - time_wait_ms(2000); - goto l2; - } - - strat_eject(); - - while (1) { - strat_set_speed(250, SPEED_ANGLE_SLOW); - strat_harvest_circuit(); - strat_eject(); + return err; } return END_TRAJ; @@ -375,6 +392,7 @@ static uint8_t strat_beginning(void) } while (0) +#if 0 /* return true if we need to grab some more elements */ static uint8_t need_more_elements(void) { @@ -397,6 +415,7 @@ static uint8_t need_more_elements(void) return 1; } } +#endif uint8_t strat_main(void) { @@ -404,26 +423,44 @@ uint8_t strat_main(void) /* harvest the first cobs + balls */ err = strat_beginning(); + if (!TRAJ_SUCCESS(err)) + strat_unblock(); + else + err = strat_eject(); while (1) { - /* end of time exit ! */ + + /**********************/ + /* harvest on circuit */ + /**********************/ + + DEBUG(E_USER_STRAT, "start main loop"); + + err = strat_harvest_circuit(); if (err == END_TIMER) { DEBUG(E_USER_STRAT, "End of time"); strat_exit(); break; } + if (!TRAJ_SUCCESS(err)) { + strat_unblock(); + continue; + } + + /***********************/ + /* eject game elements */ + /***********************/ - if (need_more_elements() == 0) { - /* we have enough elements, go to eject */ - err = strat_eject(); - if (!TRAJ_SUCCESS(err)) - continue; + err = strat_eject(); + /* end of time exit ! */ + if (err == END_TIMER) { + DEBUG(E_USER_STRAT, "End of time"); + strat_exit(); + break; } - else { - /* harvest */ - err = strat_harvest(); - if (!TRAJ_SUCCESS(err)) - continue; + if (!TRAJ_SUCCESS(err)) { + strat_unblock(); + continue; } }