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 #if 0
 151         /* pack or deploy spickle */
 152         if (strat_infos.status.flags & STRAT_STATUS_LHARVEST) {
 153                 if (sensor_get(S_LCOB_PRESENT)) {
 154                         if (sensor_get(S_LCOB_WHITE))
 155                                 i2c_ballboard_set_mode();
 156                         else
 157                                 ;
 158                 }
 159         }
 160 #endif
 161         /* limit speed when opponent is close */
 162         strat_limit_speed();
 163 }
 164
 165 static uint8_t strat_beginning(void)
 166 {
 167         uint8_t err;
 168
 169         strat_set_acc(ACC_DIST, ACC_ANGLE);
 170 #ifdef HOST_VERSION
 171         strat_set_speed(600, SPEED_ANGLE_FAST);
 172 #else
 173         /* 250 */
 174         strat_set_speed(600, SPEED_ANGLE_FAST);
 175 #endif
 176
 177
 178         strat_set_speed(600, 60); /* OK */
 179         // strat_set_speed(250, 28); /* OK */
 180
 181         trajectory_d_a_rel(&mainboard.traj, 500, COLOR_A(20));
 182         err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 183                                     TRAJ_FLAGS_STD);
 184
 185         strat_set_acc(ACC_DIST, ACC_ANGLE);
 186
 187 #if 0
 188  l1:
 189         if (get_cob_count() >= 5)
 190                 strat_set_speed(600, SPEED_ANGLE_FAST);
 191
 192         err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
 193         if (!TRAJ_SUCCESS(err)) {
 194                 trajectory_hardstop(&mainboard.traj);
 195                 time_wait_ms(2000);
 196                 goto l1;
 197         }
 198
 199  l2:
 200         if (get_cob_count() >= 5)
 201                 strat_set_speed(600, SPEED_ANGLE_FAST);
 202
 203         err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
 204         if (!TRAJ_SUCCESS(err)) {
 205                 trajectory_hardstop(&mainboard.traj);
 206                 time_wait_ms(2000);
 207                 goto l2;
 208         }
 209
 210  l3:
 211         if (get_cob_count() >= 5)
 212                 strat_set_speed(600, SPEED_ANGLE_FAST);
 213
 214         err = line2line(LINE_R_UP, 2, LINE_UP, 5);
 215         if (!TRAJ_SUCCESS(err)) {
 216                 trajectory_hardstop(&mainboard.traj);
 217                 time_wait_ms(2000);
 218                 goto l3;
 219         }
 220 #else
 221         strat_set_speed(600, SPEED_ANGLE_FAST);
 222         err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
 223         err = line2line(LINE_R_DOWN, 3, LINE_R_UP, 2);
 224         err = line2line(LINE_R_UP, 2, LINE_R_DOWN, 2);
 225         err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 3);
 226         err = line2line(LINE_R_UP, 3, LINE_UP, 5);
 227         err = line2line(LINE_UP, 5, LINE_L_DOWN, 2);
 228         err = line2line(LINE_L_DOWN, 2, LINE_L_UP, 1);
 229         err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
 230         err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
 231         wait_ms(500);
 232         trajectory_hardstop(&mainboard.traj);
 233         return END_TRAJ;
 234 #endif
 235
 236         trajectory_hardstop(&mainboard.traj);
 237
 238         /* ball ejection */
 239         trajectory_a_abs(&mainboard.traj, COLOR_A(90));
 240         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 241         time_wait_ms(2000);
 242
 243         /* half turn */
 244         trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
 245         err = wait_traj_end(END_INTR|END_TRAJ);
 246         i2c_cobboard_pack(I2C_LEFT_SIDE);
 247         i2c_cobboard_pack(I2C_RIGHT_SIDE);
 248         trajectory_a_rel(&mainboard.traj, COLOR_A(180));
 249         err = wait_traj_end(END_INTR|END_TRAJ);
 250
 251         /* cob ejection */
 252         trajectory_d_rel(&mainboard.traj, -100);
 253         err = wait_traj_end(END_INTR|END_TRAJ);
 254         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 255         time_wait_ms(2000);
 256
 257         trajectory_hardstop(&mainboard.traj);
 258         return END_TRAJ;
 259 }
 260
 261 /* dump state (every 5 s max) */
 262 #define DUMP_RATE_LIMIT(dump, last_print)               \
 263         do {                                            \
 264                 if (time_get_s() - last_print > 5) {    \
 265                         dump();                         \
 266                         last_print = time_get_s();      \
 267                 }                                       \
 268         } while (0)
 269
 270
 271 /* return true if we need to grab some more elements */
 272 static uint8_t need_more_elements(void)
 273 {
 274         if (time_get_s() <= 75) {
 275                 /* we have enough time left */
 276                 if (get_ball_count() >= 4)
 277                         return 0;
 278                 if (get_cob_count() >= 4)
 279                         return 0;
 280                 if ((get_ball_count() >= 2) &&
 281                     (get_cob_count() >= 2))
 282                         return 0;
 283                 return 1;
 284         }
 285         else {
 286                 /* not much time remaining */
 287                 if ((get_ball_count() >= 1) &&
 288                     (get_cob_count() >= 1))
 289                         return 0;
 290                 return 1;
 291         }
 292 }
 293
 294 static uint8_t strat_harvest(void)
 295 {
 296         return 0;
 297 }
 298
 299 static uint8_t strat_eject(void)
 300 {
 301         return 0;
 302 }
 303
 304 uint8_t strat_main(void)
 305 {
 306         uint8_t err;
 307
 308         /* harvest the first cobs + balls */
 309         err = strat_beginning();
 310
 311         while (1) {
 312                 /* end of time exit ! */
 313                 if (err == END_TIMER) {
 314                         DEBUG(E_USER_STRAT, "End of time");
 315                         strat_exit();
 316                         break;
 317                 }
 318
 319                 if (need_more_elements() == 0) {
 320                         /* we have enough elements, go to eject */
 321                         err = strat_eject();
 322                         if (!TRAJ_SUCCESS(err))
 323                                 continue;
 324                 }
 325                 else {
 326                         /* harvest */
 327                         err = strat_harvest();
 328                         if (!TRAJ_SUCCESS(err))
 329                                 continue;
 330                 }
 331         }
 332
 333         return err;
 334 }