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 <vect_base.h>
  44 #include <lines.h>
  45 #include <polygon.h>
  46 #include <obstacle_avoidance.h>
  47 #include <blocking_detection_manager.h>
  48 #include <robot_system.h>
  49 #include <position_manager.h>
  50
  51 #include <diagnostic.h>
  52
  53 #include <rdline.h>
  54 #include <parse.h>
  55
  56 #include "../common/i2c_commands.h"
  57 #include "i2c_protocol.h"
  58 #include "main.h"
  59 #include "strat.h"
  60 #include "strat_db.h"
  61 #include "strat_base.h"
  62 #include "strat_corn.h"
  63 #include "strat_utils.h"
  64 #include "sensor.h"
  65 #include "actuator.h"
  66
  67 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
  68 #define COL_SCAN_PRE_MARGIN 250
  69
  70 struct strat_conf strat_conf;
  71
  72 /*************************************************************/
  73
  74 /*                  INIT                                     */
  75
  76 /*************************************************************/
  77
  78 /* called before each strat, and before the start switch */
  79 void strat_preinit(void)
  80 {
  81         time_reset();
  82         interrupt_traj_reset();
  83         mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
  84                 DO_POS | DO_BD | DO_POWER;
  85
  86         //i2c_cobboard_mode_init();
  87         strat_conf_dump(__FUNCTION__);
  88         strat_db_dump(__FUNCTION__);
  89 }
  90
  91 void strat_conf_dump(const char *caller)
  92 {
  93         if (!strat_conf.dump_enabled)
  94                 return;
  95
  96         printf_P(PSTR("-- conf --\r\n"));
  97
  98 }
  99
 100 /* call it just before launching the strat */
 101 void strat_init(void)
 102 {
 103         position_set(&mainboard.pos, 298.16,
 104                      COLOR_Y(308.78), COLOR_A(70.00));
 105
 106         /* XXX init rollers, .. */
 107
 108         strat_db_init();
 109
 110         /* we consider that the color is correctly set */
 111
 112         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 113         time_reset();
 114         interrupt_traj_reset();
 115
 116         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 117         i2c_cobboard_harvest(I2C_LEFT_SIDE);
 118         i2c_cobboard_harvest(I2C_RIGHT_SIDE);
 119         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 120
 121         /* used in strat_base for END_TIMER */
 122         mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 123                 DO_POS | DO_BD | DO_TIMER | DO_POWER;
 124 }
 125
 126
 127 /* call it after each strat */
 128 void strat_exit(void)
 129 {
 130 #ifndef HOST_VERSION
 131         uint8_t flags;
 132 #endif
 133
 134         mainboard.flags &= ~(DO_TIMER);
 135         strat_hardstop();
 136         time_reset();
 137         wait_ms(100);
 138 #ifndef HOST_VERSION
 139         IRQ_LOCK(flags);
 140         mainboard.flags &= ~(DO_CS);
 141         IRQ_UNLOCK(flags);
 142         pwm_ng_set(LEFT_PWM, 0);
 143         pwm_ng_set(RIGHT_PWM, 0);
 144 #endif
 145 }
 146
 147 /* called periodically */
 148 void strat_event(void *dummy)
 149 {
 150         uint8_t flags;
 151         uint8_t lcob, rcob;
 152
 153         IRQ_LOCK(flags);
 154         lcob = ballboard.lcob;
 155         ballboard.lcob = I2C_COB_NONE;
 156         rcob = ballboard.rcob;
 157         ballboard.rcob = I2C_COB_NONE;
 158         IRQ_UNLOCK(flags);
 159
 160         if (lcob == I2C_COB_WHITE)
 161                 DEBUG(E_USER_STRAT, "lcob white");
 162         if (lcob == I2C_COB_BLACK)
 163                 DEBUG(E_USER_STRAT, "lcob black");
 164         if (rcob == I2C_COB_WHITE)
 165                 DEBUG(E_USER_STRAT, "rcob white");
 166         if (rcob == I2C_COB_BLACK)
 167                 DEBUG(E_USER_STRAT, "rcob black");
 168
 169         /* limit speed when opponent is close */
 170         strat_limit_speed();
 171 }
 172
 173 static uint8_t strat_beginning(void)
 174 {
 175         uint8_t err;
 176
 177         strat_set_acc(ACC_DIST, ACC_ANGLE);
 178 #ifdef HOST_VERSION
 179         strat_set_speed(600, SPEED_ANGLE_FAST);
 180 #else
 181         /* 250 */
 182         strat_set_speed(250, SPEED_ANGLE_FAST);
 183 #endif
 184
 185
 186         // strat_set_speed(600, 60); /* OK */
 187         strat_set_speed(250, 28); /* OK */
 188
 189         trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
 190         err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 191                                     TRAJ_FLAGS_STD);
 192
 193         strat_set_acc(ACC_DIST, ACC_ANGLE);
 194
 195 #if 1
 196  l1:
 197         if (get_cob_count() >= 5)
 198                 strat_set_speed(600, SPEED_ANGLE_FAST);
 199
 200         err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
 201         if (!TRAJ_SUCCESS(err)) {
 202                 trajectory_hardstop(&mainboard.traj);
 203                 time_wait_ms(2000);
 204                 goto l1;
 205         }
 206
 207  l2:
 208         if (get_cob_count() >= 5)
 209                 strat_set_speed(600, SPEED_ANGLE_FAST);
 210
 211         err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
 212         if (!TRAJ_SUCCESS(err)) {
 213                 trajectory_hardstop(&mainboard.traj);
 214                 time_wait_ms(2000);
 215                 goto l2;
 216         }
 217
 218  l3:
 219         if (get_cob_count() >= 5)
 220                 strat_set_speed(600, SPEED_ANGLE_FAST);
 221
 222         err = line2line(LINE_R_UP, 2, LINE_UP, 5);
 223         if (!TRAJ_SUCCESS(err)) {
 224                 trajectory_hardstop(&mainboard.traj);
 225                 time_wait_ms(2000);
 226                 goto l3;
 227         }
 228 #else
 229         strat_set_speed(600, SPEED_ANGLE_FAST);
 230         err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
 231         err = line2line(LINE_R_DOWN, 3, LINE_R_UP, 2);
 232         err = line2line(LINE_R_UP, 2, LINE_R_DOWN, 2);
 233         err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 3);
 234         err = line2line(LINE_R_UP, 3, LINE_UP, 5);
 235         err = line2line(LINE_UP, 5, LINE_L_DOWN, 2);
 236         err = line2line(LINE_L_DOWN, 2, LINE_L_UP, 1);
 237         err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
 238         err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
 239         wait_ms(500);
 240         trajectory_hardstop(&mainboard.traj);
 241         return END_TRAJ;
 242 #endif
 243
 244         trajectory_hardstop(&mainboard.traj);
 245
 246         /* ball ejection */
 247         trajectory_a_abs(&mainboard.traj, COLOR_A(90));
 248         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 249         time_wait_ms(2000);
 250
 251         /* half turn */
 252         trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
 253         err = wait_traj_end(END_INTR|END_TRAJ);
 254         i2c_cobboard_pack(I2C_LEFT_SIDE);
 255         i2c_cobboard_pack(I2C_RIGHT_SIDE);
 256         trajectory_a_rel(&mainboard.traj, COLOR_A(180));
 257         err = wait_traj_end(END_INTR|END_TRAJ);
 258
 259         /* cob ejection */
 260         trajectory_d_rel(&mainboard.traj, -100);
 261         err = wait_traj_end(END_INTR|END_TRAJ);
 262         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 263         time_wait_ms(2000);
 264
 265         trajectory_hardstop(&mainboard.traj);
 266         return END_TRAJ;
 267 }
 268
 269 /* dump state (every 5 s max) */
 270 #define DUMP_RATE_LIMIT(dump, last_print)               \
 271         do {                                            \
 272                 if (time_get_s() - last_print > 5) {    \
 273                         dump();                         \
 274                         last_print = time_get_s();      \
 275                 }                                       \
 276         } while (0)
 277
 278
 279 /* return true if we need to grab some more elements */
 280 static uint8_t need_more_elements(void)
 281 {
 282         if (time_get_s() <= 75) {
 283                 /* we have enough time left */
 284                 if (get_ball_count() >= 4)
 285                         return 0;
 286                 if (get_cob_count() >= 4)
 287                         return 0;
 288                 if ((get_ball_count() >= 2) &&
 289                     (get_cob_count() >= 2))
 290                         return 0;
 291                 return 1;
 292         }
 293         else {
 294                 /* not much time remaining */
 295                 if ((get_ball_count() >= 1) &&
 296                     (get_cob_count() >= 1))
 297                         return 0;
 298                 return 1;
 299         }
 300 }
 301
 302 static uint8_t strat_harvest(void)
 303 {
 304         return 0;
 305 }
 306
 307 static uint8_t strat_eject(void)
 308 {
 309         return 0;
 310 }
 311
 312 uint8_t strat_main(void)
 313 {
 314         uint8_t err;
 315
 316         /* harvest the first cobs + balls */
 317         err = strat_beginning();
 318
 319         while (1) {
 320                 /* end of time exit ! */
 321                 if (err == END_TIMER) {
 322                         DEBUG(E_USER_STRAT, "End of time");
 323                         strat_exit();
 324                         break;
 325                 }
 326
 327                 if (need_more_elements() == 0) {
 328                         /* we have enough elements, go to eject */
 329                         err = strat_eject();
 330                         if (!TRAJ_SUCCESS(err))
 331                                 continue;
 332                 }
 333                 else {
 334                         /* harvest */
 335                         err = strat_harvest();
 336                         if (!TRAJ_SUCCESS(err))
 337                                 continue;
 338                 }
 339         }
 340
 341         return err;
 342 }