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 "cs.h"
  62 #include "strat.h"
  63 #include "strat_db.h"
  64 #include "strat_base.h"
  65 #include "strat_corn.h"
  66 #include "strat_utils.h"
  67 #include "strat_avoid.h"
  68 #include "sensor.h"
  69 #include "actuator.h"
  70
  71 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
  72 #define COL_SCAN_PRE_MARGIN 250
  73
  74 static volatile uint8_t strat_running = 0;
  75 volatile uint8_t strat_want_pack = 0;
  76 volatile uint8_t strat_lpack60 = 0;
  77 volatile uint8_t strat_rpack60 = 0;
  78
  79 volatile uint8_t strat_opponent_lpack = 0;
  80 volatile uint8_t strat_opponent_rpack = 0;
  81
  82 struct strat_conf strat_conf = {
  83         .dump_enabled = 0,
  84         .opp_orange = 90,
  85         .orphan_tomato = 50,
  86         .flags = 0,
  87 };
  88
  89 /*************************************************************/
  90
  91 /*                  INIT                                     */
  92
  93 /*************************************************************/
  94
  95 /* called before each strat, and before the start switch */
  96 void strat_preinit(void)
  97 {
  98         time_reset();
  99         interrupt_traj_reset();
 100         mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
 101                 DO_POS | DO_BD | DO_POWER;
 102
 103         strat_db_init();
 104         strat_conf.prev_wait_obstacle = -5;
 105         strat_conf_dump(__FUNCTION__);
 106         strat_db_dump(__FUNCTION__);
 107 }
 108
 109 void strat_conf_dump(const char *caller)
 110 {
 111         if (!strat_conf.dump_enabled)
 112                 return;
 113
 114         printf_P(PSTR("-- conf --\r\n"));
 115         printf_P(PSTR("our_orange = %s\n"),
 116                  (strat_conf.flags & STRAT_CONF_OUR_ORANGE) ? "y":"n");
 117         printf_P(PSTR("wait_obstacle = %s\n"),
 118                  (strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE) ? "y":"n");
 119         printf_P(PSTR("opp_orange = %d\n"), strat_conf.opp_orange);
 120         printf_P(PSTR("orphan_tomato = %d\n"), strat_conf.orphan_tomato);
 121 }
 122
 123 void strat_event_enable(void)
 124 {
 125         strat_running = 1;
 126 }
 127
 128 void strat_event_disable(void)
 129 {
 130         strat_running = 0;
 131 }
 132
 133 /* call it just before launching the strat */
 134 void strat_init(void)
 135 {
 136 #ifdef HOST_VERSION
 137         position_set(&mainboard.pos, 298.16,
 138                      COLOR_Y(308.78), COLOR_A(70.00));
 139 #endif
 140
 141         /* we consider that the color is correctly set */
 142         strat_running = 1;
 143         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 144         time_reset();
 145         interrupt_traj_reset();
 146
 147         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 148         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 149
 150         /* used in strat_base for END_TIMER */
 151         mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 152                 DO_POS | DO_BD | DO_TIMER | DO_POWER;
 153 }
 154
 155 /* call it after each strat */
 156 void strat_exit(void)
 157 {
 158 #ifndef HOST_VERSION
 159         uint8_t flags;
 160 #endif
 161
 162         strat_running = 0;
 163         mainboard.flags &= ~(DO_TIMER);
 164         strat_hardstop();
 165         time_reset();
 166         wait_ms(100);
 167 #ifndef HOST_VERSION
 168         IRQ_LOCK(flags);
 169         mainboard.flags &= ~(DO_CS);
 170         IRQ_UNLOCK(flags);
 171         pwm_ng_set(LEFT_PWM, 0);
 172         pwm_ng_set(RIGHT_PWM, 0);
 173 #endif
 174 }
 175
 176 /* mark tomato as not present */
 177 static void check_tomato(void)
 178 {
 179         int16_t x, y;
 180         uint8_t i, j;
 181         static uint8_t prev_check_time;
 182         uint8_t cur_time;
 183
 184         /* check present tomatoes once per second */
 185         cur_time = time_get_s();
 186         if (cur_time != prev_check_time) {
 187                 uint8_t k;
 188
 189                 for (k = 0; k < TOMATO_NB; k++) {
 190                         if (strat_db.tomato_table[k]->present == 1 &&
 191                             strat_db.tomato_table[k]->time_removed != -1 &&
 192                             strat_db.tomato_table[k]->time_removed + 2 <= time_get_s()) {
 193 #ifdef HOST_VERSION
 194                                 printf("remove tomato %d\n", k);
 195 #endif
 196                                 strat_db.tomato_table[k]->present = 0;
 197                         }
 198                 }
 199                 prev_check_time = cur_time;
 200         }
 201
 202         x = position_get_x_s16(&mainboard.pos);
 203         y = position_get_y_s16(&mainboard.pos);
 204
 205         if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
 206                 return;
 207
 208         if (strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
 209                 return;
 210
 211         if (strat_db.wp_table[i][j].present == 0)
 212                 return;
 213
 214         strat_db.wp_table[i][j].time_removed = time_get_s();
 215         strat_db.wp_table[i][j].present = 0;
 216 #ifdef HOST_VERSION
 217         ballboard.ball_count ++;
 218         printf("add ball %d,%d\n", i, j);
 219 #endif
 220 }
 221
 222 /* mark corn as not present and give correct commands to the cobboard
 223  * for spickles */
 224 static void check_corn(void)
 225 {
 226         uint8_t flags;
 227         int8_t lcob_near, rcob_near;
 228         uint8_t lcob, rcob;
 229         uint8_t lidx, ridx;
 230         static uint8_t prev_check_time;
 231         uint8_t cur_time;
 232         uint8_t need_lpack, need_rpack;
 233
 234         /* read sensors from ballboard */
 235         IRQ_LOCK(flags);
 236         lcob = ballboard.lcob;
 237         ballboard.lcob = I2C_COB_NONE;
 238         rcob = ballboard.rcob;
 239         ballboard.rcob = I2C_COB_NONE;
 240         IRQ_UNLOCK(flags);
 241
 242         /* XXX take opponent position into account */
 243
 244         /* check present cobs once per second */
 245         cur_time = time_get_s();
 246         if (cur_time != prev_check_time) {
 247                 uint8_t i;
 248
 249                 for (i = 0; i < CORN_NB; i++) {
 250                         if (strat_db.corn_table[i]->present == 1 &&
 251                             strat_db.corn_table[i]->time_removed != -1 &&
 252                             strat_db.corn_table[i]->time_removed + 2 <= time_get_s()) {
 253 #ifdef HOST_VERSION
 254                                 printf("remove cob %d\n", i);
 255 #endif
 256                                 strat_db.corn_table[i]->present = 0;
 257                         }
 258                 }
 259                 prev_check_time = cur_time;
 260         }
 261
 262         /* detect cob on left side */
 263         lcob_near = corn_is_near(&lidx, I2C_LEFT_SIDE);
 264         if (lcob_near && lcob != I2C_COB_NONE) {
 265                 if (strat_db.corn_table[lidx]->corn.color == I2C_COB_UNKNOWN)
 266                         DEBUG(E_USER_STRAT, "lcob %s %d",
 267                               lcob == I2C_COB_WHITE ? "white" : "black", lidx);
 268                 corn_set_color(strat_db.corn_table[lidx], lcob);
 269         }
 270
 271         /* detect cob on right side */
 272         rcob_near = corn_is_near(&ridx, I2C_RIGHT_SIDE);
 273         if (rcob_near && rcob != I2C_COB_NONE) {
 274                 if (strat_db.corn_table[ridx]->corn.color == I2C_COB_UNKNOWN)
 275                         DEBUG(E_USER_STRAT, "rcob %s %d",
 276                               rcob == I2C_COB_WHITE ? "white" : "black", ridx);
 277                 corn_set_color(strat_db.corn_table[ridx], rcob);
 278         }
 279
 280         /* control the cobboard mode for left spickle */
 281         need_lpack = get_cob_count() >= 5 || strat_want_pack ||
 282                 strat_lpack60 || strat_opponent_lpack;
 283         if (lcob_near && strat_db.corn_table[lidx]->present) {
 284                 if (need_lpack) {
 285                         /* nothing  */
 286                 }
 287                 else {
 288                         /* deploy spickle and harvest white ones */
 289                         if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE) {
 290                                 i2c_cobboard_autoharvest_nomove(I2C_LEFT_SIDE);
 291                                 if (strat_db.corn_table[lidx]->time_removed == -1
 292 #ifndef HOST_VERSION
 293                                     && cobboard.status == I2C_COBBOARD_STATUS_LBUSY
 294 #endif
 295                                     ) {
 296                                         strat_db.corn_table[lidx]->time_removed = time_get_s();
 297 #ifdef HOST_VERSION
 298                                         cobboard.cob_count ++;
 299                                         printf("add cob %d\n", lidx);
 300 #endif
 301                                 }
 302                         }
 303                         else
 304                                 i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
 305                 }
 306         }
 307         else {
 308                 /* no cob near us, we can pack or deploy freely */
 309                 if (need_lpack)
 310                         i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
 311                 else
 312                         i2c_cobboard_deploy(I2C_LEFT_SIDE);
 313         }
 314
 315         /* control the cobboard mode for right spickle */
 316         need_rpack = get_cob_count() >= 5 || strat_want_pack ||
 317                 strat_rpack60 || strat_opponent_rpack;
 318         if (rcob_near && strat_db.corn_table[ridx]->present) {
 319                 if (need_rpack) {
 320                         /* nothing */
 321                 }
 322                 else {
 323                         /* deploy spickle and harvest white ones */
 324                         if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE) {
 325                                 i2c_cobboard_autoharvest_nomove(I2C_RIGHT_SIDE);
 326                                 if (strat_db.corn_table[ridx]->time_removed == -1
 327 #ifndef HOST_VERSION
 328                                     && cobboard.status == I2C_COBBOARD_STATUS_RBUSY
 329 #endif
 330                                     ) {
 331                                         strat_db.corn_table[ridx]->time_removed = time_get_s();
 332 #ifdef HOST_VERSION
 333                                         cobboard.cob_count ++;
 334                                         printf("add cob %d\n", ridx);
 335 #endif
 336                                 }
 337                         }
 338                         else
 339                                 i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
 340                 }
 341         }
 342         else {
 343                 /* no cob near us, we can pack or deploy freely */
 344                 if (need_rpack)
 345                         i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
 346                 else
 347                         i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 348         }
 349 }
 350
 351 /* check opponent position */
 352 void check_opponent(void)
 353 {
 354         int16_t opp_x, opp_y;
 355         int16_t opp_d, opp_a;
 356         uint8_t i, j;
 357
 358         strat_opponent_lpack = 0;
 359         strat_opponent_rpack = 0;
 360
 361         if (get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a) < 0)
 362                 return;
 363
 364         /* pack spickles if opponent too close */
 365         if (opp_d < 600) {
 366                 if (opp_a > 45 && opp_a < 135)
 367                         strat_opponent_lpack = 1;
 368                 if (opp_a > 225 && opp_a < 315)
 369                         strat_opponent_rpack = 1;
 370         }
 371
 372         /* check for oranges after 5 seconds */
 373         if (time_get_s() > 5) {
 374                 if (mainboard.our_color == I2C_COLOR_YELLOW) {
 375                         if (opp_y < 500 && opp_x < 500)
 376                                 strat_db.our_oranges_count = 0;
 377                         if (opp_y < 500 && opp_x > AREA_X - 500)
 378                                 strat_db.opp_oranges_count = 0;
 379                 }
 380                 else {
 381                         if (opp_y > AREA_Y - 500 && opp_x < 500)
 382                                 strat_db.our_oranges_count = 0;
 383                         if (opp_y > AREA_Y - 500 && opp_x > AREA_X - 500)
 384                                 strat_db.opp_oranges_count = 0;
 385                 }
 386         }
 387
 388         /* malus for some tomatoes and cobs, visited by opponent */
 389         if (xycoord_to_ijcoord(&opp_x, &opp_y, &i, &j) < 0)
 390                 return;
 391
 392         strat_db.wp_table[i][j].opp_visited = 1;
 393 }
 394
 395 /* called periodically (10ms) */
 396 void strat_event(void *dummy)
 397 {
 398         /* ignore when strat is not running */
 399         if (strat_running == 0)
 400                 return;
 401
 402         check_opponent();
 403         check_tomato();
 404         check_corn();
 405
 406         /* limit speed when opponent is near */
 407         /* disabled for 2010, we are already slow :) */
 408         //strat_limit_speed();
 409 }
 410
 411 /* check that we are on an eject line */
 412 static uint8_t robot_is_on_eject_line(void)
 413 {
 414         int16_t x, y;
 415         uint8_t i, j;
 416
 417         x = position_get_x_s16(&mainboard.pos);
 418         y = position_get_y_s16(&mainboard.pos);
 419
 420         if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
 421                 return 0;
 422
 423         if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
 424             !wp_belongs_to_line(i, j, 2, LINE_R_UP))
 425                 return 0;
 426
 427         return 1;
 428 }
 429
 430 /* 0 = fast, 1 = slow */
 431 static uint8_t eject_select_speed(void)
 432 {
 433         int16_t x, y;
 434         uint8_t i, j;
 435
 436         x = position_get_x_s16(&mainboard.pos);
 437         y = position_get_y_s16(&mainboard.pos);
 438
 439         if (get_cob_count() >= 5) {
 440                 strat_want_pack = 1;
 441                 return 0; /* fast */
 442         }
 443
 444         if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0) {
 445                 DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
 446                       __FUNCTION__, x, y);
 447                 return 1; /* slow */
 448         }
 449
 450         if (corn_count_neigh(i, j) == 2)
 451                 return 1; /* slow */
 452
 453         return 0; /* fast */
 454 }
 455
 456 /* called multiple times while we are waiting to reach the ejection
 457  * point */
 458 static uint8_t speedify_eject(void)
 459 {
 460         if (eject_select_speed())
 461                 strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 462         else
 463                 strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 464         return 0;
 465 }
 466
 467 /* must be called from a terminal line */
 468 static uint8_t strat_eject(void)
 469 {
 470         uint8_t err;
 471
 472         DEBUG(E_USER_STRAT, "%s() cob_count=%d ball_count=%d",
 473               __FUNCTION__, get_cob_count(), get_ball_count());
 474
 475         /* check that we are called from an eject line */
 476         if (!robot_is_on_eject_line()) {
 477                 DEBUG(E_USER_STRAT, "%s() not on eject line", __FUNCTION__);
 478                 return END_ERROR;
 479         }
 480
 481         /* go to eject point */
 482         trajectory_goto_forward_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
 483         err = WAIT_COND_OR_TRAJ_END(speedify_eject(),
 484                                     TRAJ_FLAGS_NO_NEAR);
 485         /* err is never == 0 because speedify_eject() always return 0 */
 486         if (!TRAJ_SUCCESS(err))
 487                 return err;
 488
 489         /* pack arms (force), and disable strat_event */
 490         strat_event_disable();
 491         i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
 492         i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
 493
 494         /* ball ejection */
 495         if (get_ball_count() > 0) {
 496                 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 497                 trajectory_a_abs(&mainboard.traj, COLOR_A(70));
 498                 err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 499                 if (!TRAJ_SUCCESS(err))
 500                         goto fail;
 501
 502                 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 503                 strat_hardstop();
 504 #ifdef HOST_VERSION
 505                 time_wait_ms(2000);
 506 #else
 507                 WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
 508                                      2000);
 509                 WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
 510                                      2000);
 511 #endif
 512         }
 513
 514         /* half turn */
 515         trajectory_a_abs(&mainboard.traj, COLOR_A(-110));
 516         err = wait_traj_end(END_INTR|END_TRAJ);
 517         if (!TRAJ_SUCCESS(err))
 518                 goto fail;
 519
 520         /* cob ejection */
 521         trajectory_d_rel(&mainboard.traj, -70);
 522         err = wait_traj_end(END_INTR|END_TRAJ);
 523         if (!TRAJ_SUCCESS(err))
 524                 goto fail;
 525
 526         if (get_cob_count() > 0) {
 527                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 528                 time_wait_ms(2000);
 529         }
 530
 531         /* cob ejection */
 532         trajectory_d_rel(&mainboard.traj, 70);
 533         err = wait_traj_end(END_INTR|END_TRAJ);
 534         if (!TRAJ_SUCCESS(err))
 535                 goto fail;
 536
 537         strat_db_dump(__FUNCTION__);
 538         err = END_TRAJ;
 539
 540  fail:
 541         strat_event_enable();
 542         strat_want_pack = 0;
 543         return err;
 544 }
 545
 546 static uint8_t strat_beginning(uint8_t do_initturn)
 547 {
 548         uint8_t err;
 549
 550         strat_set_acc(ACC_DIST, ACC_ANGLE);
 551
 552         if (do_initturn) {
 553                 strat_set_speed(600, 60); /* OK */
 554                 trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
 555                 err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 556                                             TRAJ_FLAGS_STD);
 557         }
 558
 559         strat_set_acc(ACC_DIST, ACC_ANGLE);
 560         strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 561
 562  l1:
 563         err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
 564         if (err == END_OBSTACLE &&
 565             strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
 566             time_get_s() > strat_conf.prev_wait_obstacle + 5) {
 567                 strat_conf.prev_wait_obstacle = time_get_s();
 568                 time_wait_ms(2000);
 569                 goto l1;
 570         }
 571         if (!TRAJ_SUCCESS(err))
 572                 return err;
 573
 574  l2:
 575         err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
 576         if (err == END_OBSTACLE &&
 577             strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
 578             time_get_s() > strat_conf.prev_wait_obstacle + 5) {
 579                 strat_conf.prev_wait_obstacle = time_get_s();
 580                 time_wait_ms(2000);
 581                 goto l2;
 582         }
 583         if (!TRAJ_SUCCESS(err)) {
 584                 return err;
 585         }
 586
 587         return END_TRAJ;
 588 }
 589
 590 /* dump state (every 5 s max) */
 591 #define DUMP_RATE_LIMIT(dump, last_print)               \
 592         do {                                            \
 593                 if (time_get_s() - last_print > 5) {    \
 594                         dump();                         \
 595                         last_print = time_get_s();      \
 596                 }                                       \
 597         } while (0)
 598
 599
 600 #if 0
 601 /* return true if we need to grab some more elements */
 602 static uint8_t need_more_elements(void)
 603 {
 604         if (time_get_s() <= 75) {
 605                 /* we have enough time left */
 606                 if (get_ball_count() >= 4)
 607                         return 0;
 608                 if (get_cob_count() >= 4)
 609                         return 0;
 610                 if ((get_ball_count() >= 2) &&
 611                     (get_cob_count() >= 2))
 612                         return 0;
 613                 return 1;
 614         }
 615         else {
 616                 /* not much time remaining */
 617                 if ((get_ball_count() >= 1) &&
 618                     (get_cob_count() >= 1))
 619                         return 0;
 620                 return 1;
 621         }
 622 }
 623 #endif
 624
 625 /* get tomatoes near our goals (12,5 and 12,3) */
 626 uint8_t get_opp_oranges(void)
 627 {
 628         int16_t x, y;
 629         uint8_t i, j;
 630         uint8_t err;
 631
 632         DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
 633
 634         /* only if oranges are present */
 635         if (strat_db.opp_oranges_count == 0)
 636                 return END_TRAJ;
 637
 638         strat_db.opp_oranges_count = 0;
 639         x = position_get_x_s16(&mainboard.pos);
 640         y = position_get_y_s16(&mainboard.pos);
 641
 642         if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
 643                 return END_ERROR;
 644
 645         /* not on eject point */
 646         if (i != 11 || j != 6)
 647                 return END_ERROR;
 648
 649         strat_want_pack = 1;
 650         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 651
 652         /* turn in the correct direction */
 653         trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
 654         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 655         if (!TRAJ_SUCCESS(err))
 656                 goto fail;
 657
 658         trajectory_goto_forward_xy_abs(&mainboard.traj, 2625, COLOR_Y(597));
 659         err = wait_traj_end(TRAJ_FLAGS_STD);
 660         if (!TRAJ_SUCCESS(err))
 661                 goto fail;
 662
 663         strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
 664         trajectory_goto_forward_xy_abs(&mainboard.traj, 2750, COLOR_Y(250));
 665         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 666         if (!TRAJ_SUCCESS(err))
 667                 goto fail;
 668
 669         err = run_to_the_hills(get_opponent_color());
 670
 671  fail:
 672         strat_want_pack = 0;
 673         return err;
 674 }
 675
 676 /* get tomatoes near our goals (12,5 and 12,3) */
 677 uint8_t get_orphan_tomatoes(void)
 678 {
 679 #define CLITOID_TOMATO_RADIUS 100.
 680 #define TOMATO_BACK_X 2760
 681 #define TOMATO_BACK_LEN 200
 682
 683         int16_t x, y, a;
 684         uint8_t i, j;
 685         uint8_t err;
 686         int8_t ret;
 687
 688         DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
 689
 690         /* only go if both tomatoes are present */
 691         if (!strat_db.wp_table[12][5].present ||
 692             !strat_db.wp_table[12][3].present) {
 693                 return END_TRAJ;
 694         }
 695
 696         x = position_get_x_s16(&mainboard.pos);
 697         y = position_get_y_s16(&mainboard.pos);
 698
 699         if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
 700                 return END_ERROR;
 701
 702         /* not on eject point */
 703         if (i != 11 || j != 6)
 704                 return END_ERROR;
 705
 706         strat_want_pack = 1;
 707         strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 708
 709         /* turn in the correct direction */
 710         trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
 711         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 712
 713         /* clitoid to turn and take the first ball */
 714         ret = trajectory_clitoid(&mainboard.traj, 2625, COLOR_Y(1847),
 715                                  COLOR_A(-90), 150., COLOR_A(90), 0,
 716                                  CLITOID_TOMATO_RADIUS, 3*125);
 717         if (ret < 0) {
 718                 err = END_ERROR;
 719                 goto fail;
 720         }
 721
 722         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 723         if (!TRAJ_SUCCESS(err))
 724                 goto fail;
 725
 726         strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 727         err = strat_calib(300, END_TRAJ|END_BLOCKING);
 728         a = position_get_a_deg_s16(&mainboard.pos);
 729         if (ABS(a) < 10)
 730                 strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_FRONT,
 731                                 DO_NOT_SET_POS,
 732                                 COLOR_A(0));
 733
 734         strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_FAST);
 735         trajectory_d_rel(&mainboard.traj, -250);
 736         err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
 737                                     TRAJ_FLAGS_NO_NEAR);
 738
 739         if (err != 0 && !TRAJ_SUCCESS(err))
 740                 goto fail;
 741
 742         trajectory_d_a_rel(&mainboard.traj, -TOMATO_BACK_LEN, COLOR_A(-90));
 743         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 744
 745         /* next ball */
 746
 747         /* clitoid to turn and take the first ball */
 748         strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 749         ret = trajectory_clitoid(&mainboard.traj, 2625, COLOR_Y(1847),
 750                                  COLOR_A(-90), 150., COLOR_A(90), 0,
 751                                  CLITOID_TOMATO_RADIUS, 7*125);
 752         if (ret < 0) {
 753                 err = END_ERROR;
 754                 goto fail;
 755         }
 756         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 757         if (!TRAJ_SUCCESS(err))
 758                 goto fail;
 759
 760         strat_hardstop();
 761         strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_FAST);
 762         trajectory_d_rel(&mainboard.traj, -250);
 763         err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
 764                                     TRAJ_FLAGS_NO_NEAR);
 765         trajectory_d_a_rel(&mainboard.traj, -TOMATO_BACK_LEN, COLOR_A(-90));
 766         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 767
 768 fail:
 769         strat_want_pack = 0;
 770         return err;
 771 }
 772
 773
 774 #define HILL_LEN 1000
 775
 776 #define HILL_ANGLE 0
 777 #define HILL_POSY_YELLOW 310
 778 #define HILL_POSY_BLUE 190
 779
 780 #define HILL_POSX_BALLS_DOWN1 830
 781 #define HILL_POSX_BALLS_DOWN2 920
 782 #define HILL_POSX_BALLS_DOWN3 730
 783 #define HILL_START_POSX 580
 784
 785 uint8_t prepare_hill(uint8_t orange_color, int16_t posx)
 786 {
 787         int16_t startx, starty;
 788         uint8_t our_color = get_color();
 789         uint8_t err;
 790
 791         if (orange_color == I2C_COLOR_YELLOW)
 792                 starty = HILL_POSY_YELLOW;
 793         else
 794                 starty = HILL_POSY_BLUE;
 795         if (orange_color == our_color)
 796                 startx = posx;
 797         else
 798                 startx = AREA_X - posx;
 799         trajectory_goto_forward_xy_abs(&mainboard.traj, startx, COLOR_Y(starty));
 800         err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
 801         if (!TRAJ_SUCCESS(err))
 802                 return err;
 803
 804         /* turn to the hills */
 805         if (orange_color == our_color)
 806                 trajectory_a_abs(&mainboard.traj, COLOR_A(HILL_ANGLE));
 807         else
 808                 trajectory_a_abs(&mainboard.traj, COLOR_A(-180+HILL_ANGLE));
 809         err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
 810         if (!TRAJ_SUCCESS(err))
 811                 return err;
 812
 813         return END_TRAJ;
 814 }
 815
 816 /* get oranges, must be called near game area */
 817 uint8_t run_to_the_hills(uint8_t orange_color)
 818 {
 819         double aa, ad;
 820         uint16_t sa, sd;
 821         uint8_t err;
 822         uint8_t our_color = get_color();
 823         int32_t p = pid_get_gain_P(&mainboard.angle.pid);
 824         int32_t i = pid_get_gain_I(&mainboard.angle.pid);
 825         int32_t d = pid_get_gain_D(&mainboard.angle.pid);
 826         int32_t max_in = pid_get_max_in(&mainboard.angle.pid);
 827         int32_t max_i = pid_get_max_I(&mainboard.angle.pid);
 828         int32_t max_out = pid_get_max_out(&mainboard.angle.pid);
 829
 830         strat_want_pack = 1;
 831         strat_get_acc(&ad, &aa);
 832         strat_get_speed(&sd, &sa);
 833
 834         DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
 835
 836         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 837         err = prepare_hill(orange_color, HILL_START_POSX);
 838         if (!TRAJ_SUCCESS(err))
 839                 return err;
 840
 841         strat_set_acc(5, ACC_ANGLE);
 842         strat_set_speed(300, SPEED_ANGLE_SLOW);
 843         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 2000000, 80);
 844         bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 2000000, 80);
 845         bd_set_speed_threshold(&mainboard.distance.bd, 10);
 846         support_balls_pack();
 847         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
 848
 849         /* decrease angle gains */
 850         pid_set_gains(&mainboard.angle.pid, 200, 0, 2000);
 851
 852         /* here it is difficult to handle return values, because we
 853          * are on the hill */
 854         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
 855         trajectory_d_rel(&mainboard.traj, HILL_LEN);
 856         err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
 857                                     HILL_POSX_BALLS_DOWN1,
 858                                     TRAJ_FLAGS_SMALL_DIST);
 859         DEBUG(E_USER_STRAT, "deploy support balls");
 860         support_balls_deploy();
 861         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_UP);
 862         trajectory_only_a_rel(&mainboard.traj, 2);
 863         err = WAIT_COND_OR_TE_TO(0, 0, 2200);
 864
 865         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
 866         strat_set_acc(3, 3);
 867         strat_hardstop();
 868         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
 869
 870         time_wait_ms(1800);
 871
 872         /* reach top, go down */
 873         trajectory_d_rel(&mainboard.traj, -HILL_LEN);
 874
 875         err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
 876                                     HILL_POSX_BALLS_DOWN2,
 877                                     TRAJ_FLAGS_SMALL_DIST);
 878         DEBUG(E_USER_STRAT, "pack support balls");
 879         support_balls_pack();
 880         err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
 881                                     HILL_POSX_BALLS_DOWN3,
 882                                     TRAJ_FLAGS_SMALL_DIST);
 883         DEBUG(E_USER_STRAT, "deploy support balls");
 884         strat_set_acc(ad, aa);
 885         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 886         support_balls_deploy();
 887         err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
 888         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 889
 890         /* wait to be near the wall */
 891         err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) < 200,
 892                                     TRAJ_FLAGS_SMALL_DIST);
 893
 894         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 895
 896         /* restore BD coefs */
 897         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
 898         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
 899         bd_set_speed_threshold(&mainboard.distance.bd, 60);
 900
 901         /* calibrate position on the wall */
 902         strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
 903         err = strat_calib(-400, TRAJ_FLAGS_SMALL_DIST);
 904         if (orange_color == our_color)
 905                 strat_reset_pos(ROBOT_HALF_LENGTH_REAR,
 906                              DO_NOT_SET_POS, COLOR_A(0));
 907         else
 908                 strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_REAR,
 909                              DO_NOT_SET_POS, COLOR_A(180));
 910         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 911
 912         trajectory_d_rel(&mainboard.traj, 250);
 913         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 914         if (orange_color == I2C_COLOR_YELLOW)
 915                 trajectory_a_rel(&mainboard.traj, 90);
 916         else
 917                 trajectory_a_rel(&mainboard.traj, -90);
 918         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 919         time_wait_ms(200);
 920
 921         strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
 922         err = strat_calib(-400, TRAJ_FLAGS_SMALL_DIST);
 923         strat_reset_pos(DO_NOT_SET_POS,
 924                         COLOR_Y(ROBOT_HALF_LENGTH_REAR),
 925                         COLOR_A(90));
 926         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 927
 928         trajectory_d_rel(&mainboard.traj, 250);
 929         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 930
 931         /* revert acceleration and speed */
 932         pid_set_gains(&mainboard.angle.pid, p, i, d);
 933         pid_set_maximums(&mainboard.distance.pid, max_in, max_i, max_out);
 934         strat_want_pack = 0;
 935         strat_set_speed(sd, sa);
 936         support_balls_deploy();
 937         return err;
 938 }
 939
 940 uint8_t strat_main(void)
 941 {
 942         uint8_t err, do_initturn = 1;
 943
 944         /* get oranges */
 945         if (strat_conf.flags & STRAT_CONF_OUR_ORANGE) {
 946                 err = run_to_the_hills(get_color());
 947                 strat_db.our_oranges_count = 0;
 948                 do_initturn = 0;
 949         }
 950
 951         /* harvest the first cobs + balls */
 952         err = strat_beginning(do_initturn);
 953
 954         if (!TRAJ_SUCCESS(err))
 955                 strat_unblock();
 956         else
 957                 err = strat_eject();
 958
 959         /* choose circuit, and harvest on it */
 960         while (1) {
 961
 962                 DEBUG(E_USER_STRAT, "start main loop");
 963
 964                 /* if it's time to get tomatoes, do it */
 965                 if (time_get_s() > strat_conf.orphan_tomato) {
 966                         err = get_orphan_tomatoes();
 967                         if (err == END_ERROR) {
 968                                 DEBUG(E_USER_STRAT,
 969                                       "get_orphan_tomatoes returned END_ERROR");
 970                         }
 971                         else if (err == END_TIMER) {
 972                                 DEBUG(E_USER_STRAT, "End of time");
 973                                 strat_exit();
 974                                 break;
 975                         }
 976                         else if (!TRAJ_SUCCESS(err)) {
 977                                 /* don't retry these tomatoes if it failed */
 978                                 strat_conf.orphan_tomato = 90;
 979                                 strat_unblock();
 980                         }
 981                 }
 982
 983                 /* if it's time to get opponent oranges, do it */
 984                 if (time_get_s() > strat_conf.opp_orange) {
 985                         err = get_opp_oranges();
 986                         if (err == END_ERROR) {
 987                                 DEBUG(E_USER_STRAT,
 988                                       "get_opp_oranges returned END_ERROR");
 989                         }
 990                         else if (err == END_TIMER) {
 991                                 DEBUG(E_USER_STRAT, "End of time");
 992                                 strat_exit();
 993                                 break;
 994                         }
 995                         else if (!TRAJ_SUCCESS(err)) {
 996                                 /* don't retry oranges if it failed */
 997                                 strat_conf.opp_orange = 90;
 998                                 strat_unblock();
 999                         }
1000                 }
1001
1002                 /**********************/
1003                 /* harvest on circuit */
1004                 /**********************/
1005
1006                 err = strat_harvest_circuit();
1007                 if (err == END_TIMER) {
1008                         DEBUG(E_USER_STRAT, "End of time");
1009                         strat_exit();
1010                         break;
1011                 }
1012                 if (!TRAJ_SUCCESS(err)) {
1013                         strat_unblock();
1014                         continue;
1015                 }
1016
1017                 /***********************/
1018                 /* eject game elements */
1019                 /***********************/
1020
1021                 err = strat_eject();
1022                 /* end of time exit ! */
1023                 if (err == END_TIMER) {
1024                         DEBUG(E_USER_STRAT, "End of time");
1025                         strat_exit();
1026                         break;
1027                 }
1028                 if (!TRAJ_SUCCESS(err)) {
1029                         strat_unblock();
1030                         continue;
1031                 }
1032         }
1033
1034         return err;
1035 }