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 static uint8_t strat_running = 0;
  71 struct strat_conf strat_conf;
  72
  73 /*************************************************************/
  74
  75 /*                  INIT                                     */
  76
  77 /*************************************************************/
  78
  79 /* called before each strat, and before the start switch */
  80 void strat_preinit(void)
  81 {
  82         time_reset();
  83         interrupt_traj_reset();
  84         mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
  85                 DO_POS | DO_BD | DO_POWER;
  86
  87         //i2c_cobboard_mode_init();
  88         strat_conf_dump(__FUNCTION__);
  89         strat_db_dump(__FUNCTION__);
  90 }
  91
  92 void strat_conf_dump(const char *caller)
  93 {
  94         if (!strat_conf.dump_enabled)
  95                 return;
  96
  97         printf_P(PSTR("-- conf --\r\n"));
  98
  99 }
 100
 101 /* call it just before launching the strat */
 102 void strat_init(void)
 103 {
 104 #ifdef HOST_VERSION
 105         position_set(&mainboard.pos, 298.16,
 106                      COLOR_Y(308.78), COLOR_A(70.00));
 107 #endif
 108
 109         /* we consider that the color is correctly set */
 110         strat_running = 1;
 111         strat_db_init();
 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_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 118
 119         /* used in strat_base for END_TIMER */
 120         mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 121                 DO_POS | DO_BD | DO_TIMER | DO_POWER;
 122 }
 123
 124 /* call it after each strat */
 125 void strat_exit(void)
 126 {
 127 #ifndef HOST_VERSION
 128         uint8_t flags;
 129 #endif
 130
 131         strat_running = 0;
 132         mainboard.flags &= ~(DO_TIMER);
 133         strat_hardstop();
 134         time_reset();
 135         wait_ms(100);
 136 #ifndef HOST_VERSION
 137         IRQ_LOCK(flags);
 138         mainboard.flags &= ~(DO_CS);
 139         IRQ_UNLOCK(flags);
 140         pwm_ng_set(LEFT_PWM, 0);
 141         pwm_ng_set(RIGHT_PWM, 0);
 142 #endif
 143 }
 144
 145 /* called periodically (10ms) */
 146 void strat_event(void *dummy)
 147 {
 148         uint8_t flags;
 149         uint8_t lcob, rcob;
 150         uint8_t lidx, ridx;
 151
 152         /* ignore when strat is not running */
 153         if (strat_running == 0)
 154                 return;
 155
 156         IRQ_LOCK(flags);
 157         lcob = ballboard.lcob;
 158         ballboard.lcob = I2C_COB_NONE;
 159         rcob = ballboard.rcob;
 160         ballboard.rcob = I2C_COB_NONE;
 161         IRQ_UNLOCK(flags);
 162
 163         /* XXX take opponent position into account */
 164
 165 #ifdef HOST_VERSION
 166         if (time_get_s() == 15)
 167                 cobboard.cob_count = 5;
 168         if (time_get_s() == 16)
 169                 cobboard.cob_count = 0;
 170         if (time_get_s() == 25)
 171                 cobboard.cob_count = 5;
 172 #endif
 173
 174         /* detect cob on left side */
 175         if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
 176                 if (lcob != I2C_COB_NONE) {
 177                         corn_set_color(strat_db.corn_table[lidx], lcob);
 178                         DEBUG(E_USER_STRAT, "lcob %s %d",
 179                               lcob == I2C_COB_WHITE ? "white" : "black", lidx);
 180                 }
 181                 if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
 182                         i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
 183                 else
 184                         i2c_cobboard_deploy(I2C_LEFT_SIDE);
 185         }
 186         else {
 187                 i2c_cobboard_deploy(I2C_LEFT_SIDE);
 188         }
 189
 190         /* detect cob on right side */
 191         if (corn_is_near(&ridx, I2C_RIGHT_SIDE)) {
 192                 if (rcob != I2C_COB_NONE) {
 193                         corn_set_color(strat_db.corn_table[ridx], rcob);
 194                         DEBUG(E_USER_STRAT, "rcob %s %d",
 195                               rcob == I2C_COB_WHITE ? "white" : "black", ridx);
 196                 }
 197                 if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
 198                         i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
 199                 else
 200                         i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 201         }
 202         else {
 203                 i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 204         }
 205
 206
 207         /* limit speed when opponent is close */
 208         strat_limit_speed();
 209 }
 210
 211
 212 static uint8_t strat_harvest(void)
 213 {
 214         return 0;
 215 }
 216
 217 static uint8_t strat_eject(void)
 218 {
 219         trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
 220         err = wait_traj_end(END_INTR|END_TRAJ);
 221
 222         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 223         strat_hardstop();
 224         strat_set_speed(600, SPEED_ANGLE_FAST);
 225
 226         /* ball ejection */
 227         trajectory_a_abs(&mainboard.traj, COLOR_A(90));
 228         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 229         time_wait_ms(2000);
 230
 231         /* half turn */
 232         i2c_cobboard_pack(I2C_LEFT_SIDE);
 233         i2c_cobboard_pack(I2C_RIGHT_SIDE);
 234         trajectory_a_rel(&mainboard.traj, COLOR_A(180));
 235         err = wait_traj_end(END_INTR|END_TRAJ);
 236
 237         /* cob ejection */
 238         trajectory_d_rel(&mainboard.traj, -100);
 239         err = wait_traj_end(END_INTR|END_TRAJ);
 240         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 241         time_wait_ms(2000);
 242
 243         return 0;
 244 }
 245
 246 static uint8_t strat_beginning(void)
 247 {
 248         uint8_t err;
 249
 250         strat_set_acc(ACC_DIST, ACC_ANGLE);
 251 #ifdef HOST_VERSION
 252         strat_set_speed(600, SPEED_ANGLE_FAST);
 253 #else
 254         /* 250 */
 255         strat_set_speed(250, SPEED_ANGLE_FAST);
 256 #endif
 257
 258         // strat_set_speed(600, 60); /* OK */
 259         strat_set_speed(250, 28); /* OK */
 260
 261         trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
 262         err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 263                                     TRAJ_FLAGS_STD);
 264
 265         strat_set_acc(ACC_DIST, ACC_ANGLE);
 266
 267 #if 1
 268  l1:
 269         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 270         if (get_cob_count() >= 5)
 271                 strat_set_speed(600, SPEED_ANGLE_FAST);
 272
 273         err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
 274         if (!TRAJ_SUCCESS(err)) {
 275                 strat_hardstop();
 276                 time_wait_ms(2000);
 277                 goto l1;
 278         }
 279
 280  l2:
 281         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 282         if (get_cob_count() >= 5)
 283                 strat_set_speed(600, SPEED_ANGLE_FAST);
 284
 285         err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
 286         if (!TRAJ_SUCCESS(err)) {
 287                 strat_hardstop();
 288                 time_wait_ms(2000);
 289                 goto l2;
 290         }
 291
 292 #else
 293         strat_set_speed(600, SPEED_ANGLE_FAST);
 294         err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
 295         err = line2line(LINE_R_DOWN, 3, LINE_R_UP, 2);
 296         err = line2line(LINE_R_UP, 2, LINE_R_DOWN, 2);
 297         err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 3);
 298         err = line2line(LINE_R_UP, 3, LINE_UP, 5);
 299         err = line2line(LINE_UP, 5, LINE_L_DOWN, 2);
 300         err = line2line(LINE_L_DOWN, 2, LINE_L_UP, 1);
 301         err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
 302         err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
 303         wait_ms(500);
 304         strat_hardstop();
 305         return END_TRAJ;
 306 #endif
 307
 308         strat_eject();
 309
 310         strat_set_speed(250, SPEED_ANGLE_FAST);
 311
 312  l4:
 313         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 314         if (get_cob_count() >= 5)
 315                 strat_set_speed(600, SPEED_ANGLE_FAST);
 316
 317         err = line2line(LINE_DOWN, 5, LINE_L_UP, 2);
 318         if (!TRAJ_SUCCESS(err)) {
 319                 strat_hardstop();
 320                 time_wait_ms(2000);
 321                 goto l4;
 322         }
 323
 324  l5:
 325         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 326         if (get_cob_count() >= 5)
 327                 strat_set_speed(600, SPEED_ANGLE_FAST);
 328
 329         err = line2line(LINE_L_UP, 2, LINE_R_UP, 2);
 330         if (!TRAJ_SUCCESS(err)) {
 331                 strat_hardstop();
 332                 time_wait_ms(2000);
 333                 goto l5;
 334         }
 335
 336         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 337         if (get_cob_count() >= 5)
 338                 strat_set_speed(600, SPEED_ANGLE_FAST);
 339
 340         WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
 341                               TRAJ_FLAGS_STD);
 342         strat_eject();
 343
 344         return END_TRAJ;
 345 }
 346
 347 /* dump state (every 5 s max) */
 348 #define DUMP_RATE_LIMIT(dump, last_print)               \
 349         do {                                            \
 350                 if (time_get_s() - last_print > 5) {    \
 351                         dump();                         \
 352                         last_print = time_get_s();      \
 353                 }                                       \
 354         } while (0)
 355
 356
 357 /* return true if we need to grab some more elements */
 358 static uint8_t need_more_elements(void)
 359 {
 360         if (time_get_s() <= 75) {
 361                 /* we have enough time left */
 362                 if (get_ball_count() >= 4)
 363                         return 0;
 364                 if (get_cob_count() >= 4)
 365                         return 0;
 366                 if ((get_ball_count() >= 2) &&
 367                     (get_cob_count() >= 2))
 368                         return 0;
 369                 return 1;
 370         }
 371         else {
 372                 /* not much time remaining */
 373                 if ((get_ball_count() >= 1) &&
 374                     (get_cob_count() >= 1))
 375                         return 0;
 376                 return 1;
 377         }
 378 }
 379
 380 uint8_t strat_main(void)
 381 {
 382         uint8_t err;
 383
 384         /* harvest the first cobs + balls */
 385         err = strat_beginning();
 386
 387         while (1) {
 388                 /* end of time exit ! */
 389                 if (err == END_TIMER) {
 390                         DEBUG(E_USER_STRAT, "End of time");
 391                         strat_exit();
 392                         break;
 393                 }
 394
 395                 if (need_more_elements() == 0) {
 396                         /* we have enough elements, go to eject */
 397                         err = strat_eject();
 398                         if (!TRAJ_SUCCESS(err))
 399                                 continue;
 400                 }
 401                 else {
 402                         /* harvest */
 403                         err = strat_harvest();
 404                         if (!TRAJ_SUCCESS(err))
 405                                 continue;
 406                 }
 407         }
 408
 409         return err;
 410 }