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 struct strat_conf strat_conf;
72 /*************************************************************/
76 /*************************************************************/
78 /* called before each strat, and before the start switch */
79 void strat_preinit(void)
82 interrupt_traj_reset();
83 mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
84 DO_POS | DO_BD | DO_POWER;
86 //i2c_cobboard_mode_init();
87 strat_conf_dump(__FUNCTION__);
88 strat_db_dump(__FUNCTION__);
91 void strat_conf_dump(const char *caller)
93 if (!strat_conf.dump_enabled)
96 printf_P(PSTR("-- conf --\r\n"));
100 /* call it just before launching the strat */
101 void strat_init(void)
103 position_set(&mainboard.pos, 298.16,
104 COLOR_Y(308.78), COLOR_A(70.00));
106 /* XXX init rollers, .. */
110 /* we consider that the color is correctly set */
112 strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
114 interrupt_traj_reset();
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);
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;
127 /* call it after each strat */
128 void strat_exit(void)
134 mainboard.flags &= ~(DO_TIMER);
140 mainboard.flags &= ~(DO_CS);
142 pwm_ng_set(LEFT_PWM, 0);
143 pwm_ng_set(RIGHT_PWM, 0);
147 /* called periodically */
148 void strat_event(void *dummy)
154 lcob = ballboard.lcob;
155 ballboard.lcob = I2C_COB_NONE;
156 rcob = ballboard.rcob;
157 ballboard.rcob = I2C_COB_NONE;
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");
169 /* limit speed when opponent is close */
173 static uint8_t strat_beginning(void)
177 strat_set_acc(ACC_DIST, ACC_ANGLE);
179 strat_set_speed(600, SPEED_ANGLE_FAST);
182 strat_set_speed(250, SPEED_ANGLE_FAST);
186 // strat_set_speed(600, 60); /* OK */
187 strat_set_speed(250, 28); /* OK */
189 trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
190 err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
193 strat_set_acc(ACC_DIST, ACC_ANGLE);
197 if (get_cob_count() >= 5)
198 strat_set_speed(600, SPEED_ANGLE_FAST);
200 err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
201 if (!TRAJ_SUCCESS(err)) {
202 trajectory_hardstop(&mainboard.traj);
208 if (get_cob_count() >= 5)
209 strat_set_speed(600, SPEED_ANGLE_FAST);
211 err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
212 if (!TRAJ_SUCCESS(err)) {
213 trajectory_hardstop(&mainboard.traj);
219 if (get_cob_count() >= 5)
220 strat_set_speed(600, SPEED_ANGLE_FAST);
222 err = line2line(LINE_R_UP, 2, LINE_UP, 5);
223 if (!TRAJ_SUCCESS(err)) {
224 trajectory_hardstop(&mainboard.traj);
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);
240 trajectory_hardstop(&mainboard.traj);
244 trajectory_hardstop(&mainboard.traj);
247 trajectory_a_abs(&mainboard.traj, COLOR_A(90));
248 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
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);
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);
265 trajectory_hardstop(&mainboard.traj);
269 /* dump state (every 5 s max) */
270 #define DUMP_RATE_LIMIT(dump, last_print) \
272 if (time_get_s() - last_print > 5) { \
274 last_print = time_get_s(); \
279 /* return true if we need to grab some more elements */
280 static uint8_t need_more_elements(void)
282 if (time_get_s() <= 75) {
283 /* we have enough time left */
284 if (get_ball_count() >= 4)
286 if (get_cob_count() >= 4)
288 if ((get_ball_count() >= 2) &&
289 (get_cob_count() >= 2))
294 /* not much time remaining */
295 if ((get_ball_count() >= 1) &&
296 (get_cob_count() >= 1))
302 static uint8_t strat_harvest(void)
307 static uint8_t strat_eject(void)
312 uint8_t strat_main(void)
316 /* harvest the first cobs + balls */
317 err = strat_beginning();
320 /* end of time exit ! */
321 if (err == END_TIMER) {
322 DEBUG(E_USER_STRAT, "End of time");
327 if (need_more_elements() == 0) {
328 /* we have enough elements, go to eject */
330 if (!TRAJ_SUCCESS(err))
335 err = strat_harvest();
336 if (!TRAJ_SUCCESS(err))