X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=4955bbaea0e0e6a0efc14b7bd366b5003155cea8;hb=c20f7eb8460dd04e42f95d799f17d9b60b5ee8e4;hp=dd067514ee0d171e6df215cc888069938b36cd5d;hpb=0b7e368f3918ec09a82f73ed2f2a86a4a6957ee0;p=aversive.git

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index dd06751..4955bba 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -75,6 +75,10 @@ static volatile uint8_t strat_running = 0;
 volatile uint8_t strat_want_pack = 0;
 volatile uint8_t strat_lpack60 = 0;
 volatile uint8_t strat_rpack60 = 0;
+
+volatile uint8_t strat_opponent_lpack = 0;
+volatile uint8_t strat_opponent_rpack = 0;
+
 struct strat_conf strat_conf = {
 	.dump_enabled = 0,
 	.opp_orange = 90,
@@ -97,6 +101,7 @@ void strat_preinit(void)
 		DO_POS | DO_BD | DO_POWER;
 
 	strat_db_init();
+	strat_conf.prev_wait_obstacle = -5;
 	strat_conf_dump(__FUNCTION__);
 	strat_db_dump(__FUNCTION__);
 }
@@ -107,10 +112,12 @@ void strat_conf_dump(const char *caller)
 		return;
 
 	printf_P(PSTR("-- conf --\r\n"));
-	printf_P(PSTR("opp_orange = %d\n"), strat_conf.opp_orange);
-	printf_P(PSTR("orphan_tomato = %d\n"), strat_conf.orphan_tomato);
 	printf_P(PSTR("our_orange = %s\n"),
 		 (strat_conf.flags & STRAT_CONF_OUR_ORANGE) ? "y":"n");
+	printf_P(PSTR("wait_obstacle = %s\n"),
+		 (strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE) ? "y":"n");
+	printf_P(PSTR("opp_orange = %d\n"), strat_conf.opp_orange);
+	printf_P(PSTR("orphan_tomato = %d\n"), strat_conf.orphan_tomato);
 }
 
 void strat_event_enable(void)
@@ -222,6 +229,7 @@ static void check_corn(void)
 	uint8_t lidx, ridx;
 	static uint8_t prev_check_time;
 	uint8_t cur_time;
+	uint8_t need_lpack, need_rpack;
 
 	/* read sensors from ballboard */
 	IRQ_LOCK(flags);
@@ -270,8 +278,10 @@ static void check_corn(void)
 	}
 
 	/* control the cobboard mode for left spickle */
+	need_lpack = get_cob_count() >= 5 || strat_want_pack ||
+		strat_lpack60 || strat_opponent_lpack;
 	if (lcob_near && strat_db.corn_table[lidx]->present) {
-		if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60) {
+		if (need_lpack) {
 			/* nothing  */
 		}
 		else {
@@ -296,15 +306,17 @@ static void check_corn(void)
 	}
 	else {
 		/* no cob near us, we can pack or deploy freely */
-		if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60)
+		if (need_lpack)
 			i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
 		else
 			i2c_cobboard_deploy(I2C_LEFT_SIDE);
 	}
 
 	/* control the cobboard mode for right spickle */
+	need_rpack = get_cob_count() >= 5 || strat_want_pack ||
+		strat_rpack60 || strat_opponent_rpack;
 	if (rcob_near && strat_db.corn_table[ridx]->present) {
-		if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60) {
+		if (need_rpack) {
 			/* nothing */
 		}
 		else {
@@ -329,7 +341,7 @@ static void check_corn(void)
 	}
 	else {
 		/* no cob near us, we can pack or deploy freely */
-		if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60)
+		if (need_rpack)
 			i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
 		else
 			i2c_cobboard_deploy(I2C_RIGHT_SIDE);
@@ -339,30 +351,42 @@ static void check_corn(void)
 /* check opponent position */
 void check_opponent(void)
 {
-	int16_t x, y;
+	int16_t opp_x, opp_y;
+	int16_t opp_d, opp_a;
 	uint8_t i, j;
 
-	if (get_opponent_xy(&x, &y) < 0)
+	strat_opponent_lpack = 0;
+	strat_opponent_rpack = 0;
+
+	if (get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a) < 0)
 		return;
 
+	/* pack spickles if opponent too close */
+	if (opp_d < 600) {
+		if (opp_a > 45 && opp_a < 135)
+			strat_opponent_lpack = 1;
+		if (opp_a > 225 && opp_a < 315)
+			strat_opponent_rpack = 1;
+	}
+
 	/* check for oranges after 5 seconds */
 	if (time_get_s() > 5) {
 		if (mainboard.our_color == I2C_COLOR_YELLOW) {
-			if (y < 500 && x < 500)
+			if (opp_y < 500 && opp_x < 500)
 				strat_db.our_oranges_count = 0;
-			if (y < 500 && x > AREA_X - 500)
+			if (opp_y < 500 && opp_x > AREA_X - 500)
 				strat_db.opp_oranges_count = 0;
 		}
 		else {
-			if (y > AREA_Y - 500 && x < 500)
+			if (opp_y > AREA_Y - 500 && opp_x < 500)
 				strat_db.our_oranges_count = 0;
-			if (y > AREA_Y - 500 && x > AREA_X - 500)
+			if (opp_y > AREA_Y - 500 && opp_x > AREA_X - 500)
 				strat_db.opp_oranges_count = 0;
 		}
 	}
 
 	/* malus for some tomatoes and cobs, visited by opponent */
-	if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+	if (xycoord_to_ijcoord(&opp_x, &opp_y, &i, &j) < 0)
 		return;
 
 	strat_db.wp_table[i][j].opp_visited = 1;
@@ -375,9 +399,9 @@ void strat_event(void *dummy)
 	if (strat_running == 0)
 		return;
 
+	check_opponent();
 	check_tomato();
 	check_corn();
-	check_opponent();
 
 	/* limit speed when opponent is near */
 	/* disabled for 2010, we are already slow :) */
@@ -535,11 +559,27 @@ static uint8_t strat_beginning(uint8_t do_initturn)
 	strat_set_acc(ACC_DIST, ACC_ANGLE);
 	strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 
+ l1:
 	err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
+	if (err == END_OBSTACLE &&
+	    strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
+	    time_get_s() > strat_conf.prev_wait_obstacle + 5) {
+		strat_conf.prev_wait_obstacle = time_get_s();
+		time_wait_ms(2000);
+		goto l1;
+	}
 	if (!TRAJ_SUCCESS(err))
 		return err;
 
+ l2:
 	err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
+	if (err == END_OBSTACLE &&
+	    strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
+	    time_get_s() > strat_conf.prev_wait_obstacle + 5) {
+		strat_conf.prev_wait_obstacle = time_get_s();
+		time_wait_ms(2000);
+		goto l2;
+	}
 	if (!TRAJ_SUCCESS(err)) {
 		return err;
 	}