projects/microb2010/mainboard/strat.c

   1 /*
   2  *  Copyright Droids, Microb Technology (2009)
   3  *
   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.
   8  *
   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.
  13  *
  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
  17  *
  18  *  Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
  19  *
  20  *  Olivier MATZ <zer0@droids-corp.org>
  21  */
  22
  23 #include <stdio.h>
  24 #include <stdlib.h>
  25 #include <string.h>
  26 #include <math.h>
  27
  28 #include <aversive/pgmspace.h>
  29 #include <aversive/queue.h>
  30 #include <aversive/wait.h>
  31 #include <aversive/error.h>
  32
  33 #include <ax12.h>
  34 #include <uart.h>
  35 #include <pwm_ng.h>
  36 #include <clock_time.h>
  37 #include <spi.h>
  38
  39 #include <pid.h>
  40 #include <quadramp.h>
  41 #include <control_system_manager.h>
  42 #include <trajectory_manager.h>
  43 #include <trajectory_manager_utils.h>
  44 #include <trajectory_manager_core.h>
  45 #include <vect_base.h>
  46 #include <lines.h>
  47 #include <polygon.h>
  48 #include <obstacle_avoidance.h>
  49 #include <blocking_detection_manager.h>
  50 #include <robot_system.h>
  51 #include <position_manager.h>
  52
  53 #include <diagnostic.h>
  54
  55 #include <rdline.h>
  56 #include <parse.h>
  57
  58 #include "../common/i2c_commands.h"
  59 #include "i2c_protocol.h"
  60 #include "main.h"
  61 #include "strat.h"
  62 #include "strat_db.h"
  63 #include "strat_base.h"
  64 #include "strat_corn.h"
  65 #include "strat_utils.h"
  66 #include "strat_avoid.h"
  67 #include "sensor.h"
  68 #include "actuator.h"
  69
  70 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
  71 #define COL_SCAN_PRE_MARGIN 250
  72
  73 static volatile uint8_t strat_running = 0;
  74 volatile uint8_t strat_want_pack = 0;
  75 volatile uint8_t strat_lpack60 = 0;
  76 volatile uint8_t strat_rpack60 = 0;
  77 struct strat_conf strat_conf = {
  78         .dump_enabled = 0,
  79         .opp_orange = 90,
  80         .orphan_tomato = 50,
  81         .flags = 0,
  82 };
  83
  84 /*************************************************************/
  85
  86 /*                  INIT                                     */
  87
  88 /*************************************************************/
  89
  90 /* called before each strat, and before the start switch */
  91 void strat_preinit(void)
  92 {
  93         time_reset();
  94         interrupt_traj_reset();
  95         mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
  96                 DO_POS | DO_BD | DO_POWER;
  97
  98         strat_db_init();
  99         strat_conf_dump(__FUNCTION__);
 100         strat_db_dump(__FUNCTION__);
 101 }
 102
 103 void strat_conf_dump(const char *caller)
 104 {
 105         if (!strat_conf.dump_enabled)
 106                 return;
 107
 108         printf_P(PSTR("-- conf --\r\n"));
 109         printf_P(PSTR("opp_orange = %d\n"), strat_conf.opp_orange);
 110         printf_P(PSTR("orphan_tomato = %d\n"), strat_conf.orphan_tomato);
 111         printf_P(PSTR("our_orange = %s\n"),
 112                  (strat_conf.flags & STRAT_CONF_OUR_ORANGE) ? "y":"n");
 113 }
 114
 115 void strat_event_enable(void)
 116 {
 117         strat_running = 1;
 118 }
 119
 120 void strat_event_disable(void)
 121 {
 122         strat_running = 0;
 123 }
 124
 125 /* call it just before launching the strat */
 126 void strat_init(void)
 127 {
 128 #ifdef HOST_VERSION
 129         position_set(&mainboard.pos, 298.16,
 130                      COLOR_Y(308.78), COLOR_A(70.00));
 131 #endif
 132
 133         /* we consider that the color is correctly set */
 134         strat_running = 1;
 135         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 136         time_reset();
 137         interrupt_traj_reset();
 138
 139         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 140         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 141
 142         /* used in strat_base for END_TIMER */
 143         mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 144                 DO_POS | DO_BD | DO_TIMER | DO_POWER;
 145 }
 146
 147 /* call it after each strat */
 148 void strat_exit(void)
 149 {
 150 #ifndef HOST_VERSION
 151         uint8_t flags;
 152 #endif
 153
 154         strat_running = 0;
 155         mainboard.flags &= ~(DO_TIMER);
 156         strat_hardstop();
 157         time_reset();
 158         wait_ms(100);
 159 #ifndef HOST_VERSION
 160         IRQ_LOCK(flags);
 161         mainboard.flags &= ~(DO_CS);
 162         IRQ_UNLOCK(flags);
 163         pwm_ng_set(LEFT_PWM, 0);
 164         pwm_ng_set(RIGHT_PWM, 0);
 165 #endif
 166 }
 167
 168 /* mark tomato as not present */
 169 static void check_tomato(void)
 170 {
 171         int16_t x, y;
 172         uint8_t i, j;
 173         static uint8_t prev_check_time;
 174         uint8_t cur_time;
 175
 176         /* check present tomatoes once per second */
 177         cur_time = time_get_s();
 178         if (cur_time != prev_check_time) {
 179                 uint8_t k;
 180
 181                 for (k = 0; k < TOMATO_NB; k++) {
 182                         if (strat_db.tomato_table[k]->time_removed != -1 &&
 183                             strat_db.tomato_table[k]->time_removed + 2 == time_get_s()) {
 184 #ifdef HOST_VERSION
 185                                 printf("remove tomato %d\n", k);
 186 #endif
 187                                 strat_db.tomato_table[k]->present = 0;
 188                         }
 189                 }
 190                 prev_check_time = cur_time;
 191         }
 192
 193         x = position_get_x_s16(&mainboard.pos);
 194         y = position_get_y_s16(&mainboard.pos);
 195
 196         if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
 197                 return;
 198
 199         if (strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
 200                 return;
 201
 202         if (strat_db.wp_table[i][j].present == 0)
 203                 return;
 204
 205         strat_db.wp_table[i][j].time_removed = time_get_s();
 206         strat_db.wp_table[i][j].present = 0;
 207 #ifdef HOST_VERSION
 208         ballboard.ball_count ++;
 209         printf("add ball %d,%d\n", i, j);
 210 #endif
 211 }
 212
 213 /* mark corn as not present and give correct commands to the cobboard
 214  * for spickles */
 215 static void check_corn(void)
 216 {
 217         uint8_t flags;
 218         int8_t lcob_near, rcob_near;
 219         uint8_t lcob, rcob;
 220         uint8_t lidx, ridx;
 221         static uint8_t prev_check_time;
 222         uint8_t cur_time;
 223
 224         /* read sensors from ballboard */
 225         IRQ_LOCK(flags);
 226         lcob = ballboard.lcob;
 227         ballboard.lcob = I2C_COB_NONE;
 228         rcob = ballboard.rcob;
 229         ballboard.rcob = I2C_COB_NONE;
 230         IRQ_UNLOCK(flags);
 231
 232         /* XXX take opponent position into account */
 233
 234         /* check present cobs once per second */
 235         cur_time = time_get_s();
 236         if (cur_time != prev_check_time) {
 237                 uint8_t i;
 238
 239                 for (i = 0; i < CORN_NB; i++) {
 240                         if (strat_db.corn_table[i]->time_removed != -1 &&
 241                             strat_db.corn_table[i]->time_removed + 2 == time_get_s()) {
 242 #ifdef HOST_VERSION
 243                                 printf("remove cob %d\n", i);
 244 #endif
 245                                 strat_db.corn_table[i]->present = 0;
 246                         }
 247                 }
 248                 prev_check_time = cur_time;
 249         }
 250
 251         /* detect cob on left side */
 252         lcob_near = corn_is_near(&lidx, I2C_LEFT_SIDE);
 253         if (lcob_near && lcob != I2C_COB_NONE) {
 254                 if (strat_db.corn_table[lidx]->corn.color == I2C_COB_UNKNOWN)
 255                         DEBUG(E_USER_STRAT, "lcob %s %d",
 256                               lcob == I2C_COB_WHITE ? "white" : "black", lidx);
 257                 corn_set_color(strat_db.corn_table[lidx], lcob);
 258         }
 259
 260         /* detect cob on right side */
 261         rcob_near = corn_is_near(&ridx, I2C_RIGHT_SIDE);
 262         if (rcob_near && rcob != I2C_COB_NONE) {
 263                 if (strat_db.corn_table[ridx]->corn.color == I2C_COB_UNKNOWN)
 264                         DEBUG(E_USER_STRAT, "rcob %s %d",
 265                               rcob == I2C_COB_WHITE ? "white" : "black", ridx);
 266                 corn_set_color(strat_db.corn_table[ridx], rcob);
 267         }
 268
 269         /* control the cobboard mode for left spickle */
 270         if (lcob_near && strat_db.corn_table[lidx]->present) {
 271                 if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60) {
 272                         /* nothing  */
 273                 }
 274                 else {
 275                         /* deploy spickle and harvest white ones */
 276                         if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE) {
 277                                 i2c_cobboard_autoharvest_nomove(I2C_LEFT_SIDE);
 278                                 if (strat_db.corn_table[lidx]->time_removed == -1
 279 #ifndef HOST_VERSION
 280                                     && cobboard.status == I2C_COBBOARD_STATUS_LBUSY
 281 #endif
 282                                     ) {
 283                                         strat_db.corn_table[lidx]->time_removed = time_get_s();
 284 #ifdef HOST_VERSION
 285                                         cobboard.cob_count ++;
 286                                         printf("add cob %d\n", lidx);
 287 #endif
 288                                 }
 289                         }
 290                         else
 291                                 i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
 292                 }
 293         }
 294         else {
 295                 /* no cob near us, we can pack or deploy freely */
 296                 if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60)
 297                         i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
 298                 else
 299                         i2c_cobboard_deploy(I2C_LEFT_SIDE);
 300         }
 301
 302         /* control the cobboard mode for right spickle */
 303         if (rcob_near && strat_db.corn_table[ridx]->present) {
 304                 if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60) {
 305                         /* nothing */
 306                 }
 307                 else {
 308                         /* deploy spickle and harvest white ones */
 309                         if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE) {
 310                                 i2c_cobboard_autoharvest_nomove(I2C_RIGHT_SIDE);
 311                                 if (strat_db.corn_table[ridx]->time_removed == -1
 312 #ifndef HOST_VERSION
 313                                     && cobboard.status == I2C_COBBOARD_STATUS_RBUSY
 314 #endif
 315                                     ) {
 316                                         strat_db.corn_table[ridx]->time_removed = time_get_s();
 317 #ifdef HOST_VERSION
 318                                         cobboard.cob_count ++;
 319                                         printf("add cob %d\n", ridx);
 320 #endif
 321                                 }
 322                         }
 323                         else
 324                                 i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
 325                 }
 326         }
 327         else {
 328                 /* no cob near us, we can pack or deploy freely */
 329                 if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60)
 330                         i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
 331                 else
 332                         i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 333         }
 334 }
 335
 336 /* called periodically (10ms) */
 337 void strat_event(void *dummy)
 338 {
 339         /* ignore when strat is not running */
 340         if (strat_running == 0)
 341                 return;
 342
 343         check_tomato();
 344         check_corn();
 345
 346         /* limit speed when opponent is near */
 347         /* disabled for 2010, we are already slow :) */
 348         //strat_limit_speed();
 349 }
 350
 351 /* check that we are on an eject line */
 352 static uint8_t robot_is_on_eject_line(void)
 353 {
 354         int16_t x, y;
 355         uint8_t i, j;
 356
 357         x = position_get_x_s16(&mainboard.pos);
 358         y = position_get_y_s16(&mainboard.pos);
 359
 360         if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
 361                 return 0;
 362
 363         if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
 364             !wp_belongs_to_line(i, j, 2, LINE_R_UP))
 365                 return 0;
 366
 367         return 1;
 368 }
 369
 370 /* 0 = fast, 1 = slow */
 371 static uint8_t eject_select_speed(void)
 372 {
 373         int16_t x, y;
 374         uint8_t i, j;
 375
 376         x = position_get_x_s16(&mainboard.pos);
 377         y = position_get_y_s16(&mainboard.pos);
 378
 379         if (get_cob_count() >= 5) {
 380                 strat_want_pack = 1;
 381                 return 0; /* fast */
 382         }
 383
 384         if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
 385                 DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
 386                       __FUNCTION__, x, y);
 387                 return 1; /* slow */
 388         }
 389
 390         if (corn_count_neigh(i, j) == 2)
 391                 return 1; /* slow */
 392
 393         return 0; /* fast */
 394 }
 395
 396 /* called multiple times while we are waiting to reach the ejection
 397  * point */
 398 static uint8_t speedify_eject(void)
 399 {
 400         if (eject_select_speed())
 401                 strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 402         else
 403                 strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 404         return 0;
 405 }
 406
 407 /* must be called from a terminal line */
 408 static uint8_t strat_eject(void)
 409 {
 410         uint8_t err;
 411
 412         DEBUG(E_USER_STRAT, "%s() cob_count=%d ball_count=%d",
 413               __FUNCTION__, get_cob_count(), get_ball_count());
 414
 415         /* check that we are called from an eject line */
 416         if (!robot_is_on_eject_line()) {
 417                 DEBUG(E_USER_STRAT, "%s() not on eject line", __FUNCTION__);
 418                 return END_ERROR;
 419         }
 420
 421         /* go to eject point */
 422         trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
 423         err = WAIT_COND_OR_TRAJ_END(speedify_eject(),
 424                                     TRAJ_FLAGS_NO_NEAR);
 425         /* err is never == 0 because speedify_eject() always return 0 */
 426         if (!TRAJ_SUCCESS(err))
 427                 return err;
 428
 429         /* pack arms (force), and disable strat_event */
 430         strat_event_disable();
 431         i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
 432         i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
 433
 434         /* ball ejection */
 435         if (get_ball_count() > 0) {
 436                 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 437                 trajectory_a_abs(&mainboard.traj, COLOR_A(70));
 438                 err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 439                 if (!TRAJ_SUCCESS(err))
 440                         goto fail;
 441
 442                 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 443                 strat_hardstop();
 444 #ifdef HOST_VERSION
 445                 time_wait_ms(2000);
 446 #else
 447                 WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
 448                                      2000);
 449                 WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
 450                                      2000);
 451 #endif
 452         }
 453
 454         /* half turn */
 455         trajectory_a_abs(&mainboard.traj, COLOR_A(-110));
 456         err = wait_traj_end(END_INTR|END_TRAJ);
 457         if (!TRAJ_SUCCESS(err))
 458                 goto fail;
 459
 460         /* cob ejection */
 461         trajectory_d_rel(&mainboard.traj, -70);
 462         err = wait_traj_end(END_INTR|END_TRAJ);
 463         if (!TRAJ_SUCCESS(err))
 464                 goto fail;
 465
 466         if (get_cob_count() > 0) {
 467                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 468                 time_wait_ms(2000);
 469         }
 470
 471         /* cob ejection */
 472         trajectory_d_rel(&mainboard.traj, 70);
 473         err = wait_traj_end(END_INTR|END_TRAJ);
 474         if (!TRAJ_SUCCESS(err))
 475                 goto fail;
 476
 477         strat_db_dump(__FUNCTION__);
 478         err = END_TRAJ;
 479
 480  fail:
 481         strat_event_enable();
 482         strat_want_pack = 0;
 483         return err;
 484 }
 485
 486 static uint8_t strat_beginning(uint8_t do_initturn)
 487 {
 488         uint8_t err;
 489
 490         strat_set_acc(ACC_DIST, ACC_ANGLE);
 491
 492         if (do_initturn) {
 493                 strat_set_speed(600, 60); /* OK */
 494                 trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
 495                 err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 496                                             TRAJ_FLAGS_STD);
 497         }
 498
 499         strat_set_acc(ACC_DIST, ACC_ANGLE);
 500         strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 501
 502         err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
 503         if (!TRAJ_SUCCESS(err))
 504                 return err;
 505
 506         err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
 507         if (!TRAJ_SUCCESS(err)) {
 508                 return err;
 509         }
 510
 511         return END_TRAJ;
 512 }
 513
 514 /* dump state (every 5 s max) */
 515 #define DUMP_RATE_LIMIT(dump, last_print)               \
 516         do {                                            \
 517                 if (time_get_s() - last_print > 5) {    \
 518                         dump();                         \
 519                         last_print = time_get_s();      \
 520                 }                                       \
 521         } while (0)
 522
 523
 524 #if 0
 525 /* return true if we need to grab some more elements */
 526 static uint8_t need_more_elements(void)
 527 {
 528         if (time_get_s() <= 75) {
 529                 /* we have enough time left */
 530                 if (get_ball_count() >= 4)
 531                         return 0;
 532                 if (get_cob_count() >= 4)
 533                         return 0;
 534                 if ((get_ball_count() >= 2) &&
 535                     (get_cob_count() >= 2))
 536                         return 0;
 537                 return 1;
 538         }
 539         else {
 540                 /* not much time remaining */
 541                 if ((get_ball_count() >= 1) &&
 542                     (get_cob_count() >= 1))
 543                         return 0;
 544                 return 1;
 545         }
 546 }
 547 #endif
 548
 549 /* get tomatoes near our goals (12,5 and 12,3) */
 550 uint8_t get_orphan_tomatoes(void)
 551 {
 552 #define CLITOID_TOMATO_RADIUS 100.
 553 #define TOMATO_BACK_X 2760
 554 #define TOMATO_BACK_LEN 200
 555
 556         int16_t x, y, a;
 557         uint8_t i, j;
 558         uint8_t err;
 559         int8_t ret;
 560
 561         DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
 562
 563         /* only go if both tomatoes are present */
 564         if (!strat_db.wp_table[12][5].present ||
 565             !strat_db.wp_table[12][3].present) {
 566                 return END_TRAJ;
 567         }
 568
 569         x = position_get_x_s16(&mainboard.pos);
 570         y = position_get_y_s16(&mainboard.pos);
 571
 572         if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
 573                 return END_ERROR;
 574
 575         /* not on eject point */
 576         if (i != 11 || j != 6)
 577                 return END_ERROR;
 578
 579         strat_want_pack = 1;
 580         strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 581
 582         /* turn in the correct direction */
 583         trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
 584         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 585
 586         /* clitoid to turn and take the first ball */
 587         ret = trajectory_clitoid(&mainboard.traj, 2625, COLOR_Y(1847),
 588                                  COLOR_A(-90), 150., COLOR_A(90), 0,
 589                                  CLITOID_TOMATO_RADIUS, 3*125);
 590         if (ret < 0) {
 591                 err = END_ERROR;
 592                 goto fail;
 593         }
 594
 595         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 596         if (!TRAJ_SUCCESS(err))
 597                 goto fail;
 598
 599         strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 600         err = strat_calib(300, END_TRAJ|END_BLOCKING);
 601         a = position_get_a_deg_s16(&mainboard.pos);
 602         if (ABS(a) < 10)
 603                 strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_FRONT,
 604                                 DO_NOT_SET_POS,
 605                                 COLOR_A(0));
 606
 607         strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_FAST);
 608         trajectory_d_rel(&mainboard.traj, -250);
 609         err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
 610                                     TRAJ_FLAGS_NO_NEAR);
 611 #ifdef HOST_VERSION /* simulator sees 2 blockings */
 612         if (err == END_BLOCKING) {
 613                 trajectory_d_rel(&mainboard.traj, -250);
 614                 err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
 615                                             TRAJ_FLAGS_NO_NEAR);
 616         }
 617 #endif
 618
 619         if (err != 0 && !TRAJ_SUCCESS(err))
 620                 goto fail;
 621
 622         trajectory_d_a_rel(&mainboard.traj, -TOMATO_BACK_LEN, COLOR_A(-90));
 623         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 624
 625         /* next ball */
 626
 627         /* clitoid to turn and take the first ball */
 628         strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 629         ret = trajectory_clitoid(&mainboard.traj, 2625, COLOR_Y(1847),
 630                                  COLOR_A(-90), 150., COLOR_A(90), 0,
 631                                  CLITOID_TOMATO_RADIUS, 7*125);
 632         if (ret < 0) {
 633                 err = END_ERROR;
 634                 goto fail;
 635         }
 636         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 637         if (!TRAJ_SUCCESS(err))
 638                 goto fail;
 639
 640         strat_hardstop();
 641         strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_FAST);
 642         trajectory_d_rel(&mainboard.traj, -250);
 643         err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
 644                                     TRAJ_FLAGS_NO_NEAR);
 645         trajectory_d_a_rel(&mainboard.traj, -TOMATO_BACK_LEN, COLOR_A(-90));
 646         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 647
 648 fail:
 649         strat_want_pack = 0;
 650         return err;
 651 }
 652
 653 /* get oranges, must be called near game area */
 654 uint8_t run_to_the_hills(uint8_t orange_color)
 655 {
 656 #define HILL_LEN 500
 657 #define HILL_POSY_YELLOW 300
 658 #define HILL_POSY_BLUE 200
 659 #define HILL_POSX_BALLS_DOWN 900
 660 #define HILL_START_POSX 580
 661
 662         double aa, ad;
 663         uint16_t sa, sd;
 664         uint8_t err;
 665         uint8_t our_color = get_color();
 666         int16_t startx, starty;
 667
 668         strat_want_pack = 1;
 669         strat_get_acc(&ad, &aa);
 670         strat_get_speed(&sd, &sa);
 671
 672         DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
 673
 674         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 675         if (orange_color == I2C_COLOR_YELLOW)
 676                 starty = HILL_POSY_YELLOW;
 677         else
 678                 starty = HILL_POSY_BLUE;
 679         if (orange_color == our_color)
 680                 startx = HILL_START_POSX;
 681         else
 682                 startx = AREA_X - HILL_START_POSX;
 683         trajectory_goto_xy_abs(&mainboard.traj, startx, COLOR_Y(starty));
 684         err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
 685
 686         /* turn to the hills */
 687         if (orange_color == our_color)
 688                 trajectory_a_abs(&mainboard.traj, COLOR_A(0));
 689         else
 690                 trajectory_a_abs(&mainboard.traj, COLOR_A(180));
 691         err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
 692
 693         strat_set_acc(3, 3);
 694         strat_set_speed(300, 500);
 695         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 2000000, 40);
 696         support_balls_pack();
 697
 698         /* here it is difficult to handle return values, because we
 699          * are on the hill */
 700         trajectory_d_rel(&mainboard.traj, HILL_LEN);
 701         err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) > HILL_POSX_BALLS_DOWN,
 702                                     TRAJ_FLAGS_NO_NEAR);
 703         printf_P(PSTR("deploy\r\n"));
 704         support_balls_deploy();
 705         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND);
 706         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 707
 708         time_wait_ms(2000);
 709
 710         /* reach top, go down */
 711         trajectory_d_rel(&mainboard.traj, -HILL_LEN);
 712
 713         err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) < HILL_POSX_BALLS_DOWN,
 714                                     TRAJ_FLAGS_NO_NEAR);
 715         printf_P(PSTR("pack\r\n"));
 716         support_balls_pack();
 717         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 718         printf_P(PSTR("deploy\r\n"));
 719         support_balls_deploy();
 720
 721         /* calibrate position on the wall */
 722         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 723         strat_set_acc(ad, aa);
 724         trajectory_goto_xy_abs(&mainboard.traj, 150, COLOR_Y(starty));
 725         err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) < 300,
 726                                     TRAJ_FLAGS_NO_NEAR);
 727         strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
 728         err = strat_calib(-300, TRAJ_FLAGS_NO_NEAR);
 729         if (orange_color == our_color)
 730                 position_set(&mainboard.pos, ROBOT_HALF_LENGTH_REAR,
 731                              DO_NOT_SET_POS, COLOR_A(0));
 732         else
 733                 position_set(&mainboard.pos, AREA_X - ROBOT_HALF_LENGTH_REAR,
 734                              DO_NOT_SET_POS, COLOR_A(180));
 735         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 736         trajectory_goto_xy_abs(&mainboard.traj, 150, COLOR_Y(starty));
 737         err = wait_traj_end(TRAJ_FLAGS_STD);
 738
 739         /* revert acceleration and speed */
 740         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 741         strat_want_pack = 0;
 742         strat_set_speed(sd, sa);
 743         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
 744         support_balls_deploy();
 745         return err;
 746 }
 747
 748 uint8_t strat_main(void)
 749 {
 750         uint8_t err, do_initturn = 1;
 751
 752         /* get oranges */
 753         if (strat_conf.flags & STRAT_CONF_OUR_ORANGE) {
 754                 err = run_to_the_hills(get_color());
 755                 do_initturn = 0;
 756         }
 757
 758         /* harvest the first cobs + balls */
 759         err = strat_beginning(do_initturn);
 760
 761         if (!TRAJ_SUCCESS(err))
 762                 strat_unblock();
 763         else
 764                 err = strat_eject();
 765
 766         /* choose circuit, and harvest on it */
 767         while (1) {
 768
 769                 DEBUG(E_USER_STRAT, "start main loop");
 770
 771                 /* if it's time to get tomatoes, do it */
 772                 if (time_get_s() > strat_conf.orphan_tomato) {
 773                         err = get_orphan_tomatoes();
 774                         if (err == END_ERROR) {
 775                                 DEBUG(E_USER_STRAT,
 776                                       "get_orphan_tomatoes returned END_ERROR");
 777                         }
 778                         else if (err == END_TIMER) {
 779                                 DEBUG(E_USER_STRAT, "End of time");
 780                                 strat_exit();
 781                                 break;
 782                         }
 783                         else if (!TRAJ_SUCCESS(err)) {
 784                                 /* don't retry these tomatoes if it failed */
 785                                 strat_conf.orphan_tomato = 90;
 786                                 strat_unblock();
 787                         }
 788                 }
 789
 790                 /**********************/
 791                 /* harvest on circuit */
 792                 /**********************/
 793
 794                 err = strat_harvest_circuit();
 795                 if (err == END_TIMER) {
 796                         DEBUG(E_USER_STRAT, "End of time");
 797                         strat_exit();
 798                         break;
 799                 }
 800                 if (!TRAJ_SUCCESS(err)) {
 801                         strat_unblock();
 802                         continue;
 803                 }
 804
 805                 /***********************/
 806                 /* eject game elements */
 807                 /***********************/
 808
 809                 err = strat_eject();
 810                 /* end of time exit ! */
 811                 if (err == END_TIMER) {
 812                         DEBUG(E_USER_STRAT, "End of time");
 813                         strat_exit();
 814                         break;
 815                 }
 816                 if (!TRAJ_SUCCESS(err)) {
 817                         strat_unblock();
 818                         continue;
 819                 }
 820         }
 821
 822         return err;
 823 }