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 volatile uint8_t strat_running = 0;
  71 static volatile uint8_t want_pack = 0;
  72 struct strat_conf strat_conf;
  73
  74 /*************************************************************/
  75
  76 /*                  INIT                                     */
  77
  78 /*************************************************************/
  79
  80 /* called before each strat, and before the start switch */
  81 void strat_preinit(void)
  82 {
  83         time_reset();
  84         interrupt_traj_reset();
  85         mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
  86                 DO_POS | DO_BD | DO_POWER;
  87
  88         //i2c_cobboard_mode_init();
  89         strat_conf_dump(__FUNCTION__);
  90         strat_db_dump(__FUNCTION__);
  91 }
  92
  93 void strat_conf_dump(const char *caller)
  94 {
  95         if (!strat_conf.dump_enabled)
  96                 return;
  97
  98         printf_P(PSTR("-- conf --\r\n"));
  99
 100 }
 101
 102 void strat_event_enable(void)
 103 {
 104         strat_running = 1;
 105 }
 106
 107 void strat_event_disable(void)
 108 {
 109         strat_running = 0;
 110 }
 111
 112 /* call it just before launching the strat */
 113 void strat_init(void)
 114 {
 115 #ifdef HOST_VERSION
 116         position_set(&mainboard.pos, 298.16,
 117                      COLOR_Y(308.78), COLOR_A(70.00));
 118 #endif
 119
 120         /* we consider that the color is correctly set */
 121         strat_running = 1;
 122         strat_db_init();
 123         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 124         time_reset();
 125         interrupt_traj_reset();
 126
 127         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 128         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 129
 130         /* used in strat_base for END_TIMER */
 131         mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 132                 DO_POS | DO_BD | DO_TIMER | DO_POWER;
 133 }
 134
 135 /* call it after each strat */
 136 void strat_exit(void)
 137 {
 138 #ifndef HOST_VERSION
 139         uint8_t flags;
 140 #endif
 141
 142         strat_running = 0;
 143         mainboard.flags &= ~(DO_TIMER);
 144         strat_hardstop();
 145         time_reset();
 146         wait_ms(100);
 147 #ifndef HOST_VERSION
 148         IRQ_LOCK(flags);
 149         mainboard.flags &= ~(DO_CS);
 150         IRQ_UNLOCK(flags);
 151         pwm_ng_set(LEFT_PWM, 0);
 152         pwm_ng_set(RIGHT_PWM, 0);
 153 #endif
 154 }
 155
 156 /* called periodically (10ms) */
 157 void strat_event(void *dummy)
 158 {
 159         uint8_t flags;
 160         int8_t lcob_near, rcob_near;
 161         uint8_t lcob, rcob;
 162         uint8_t lidx, ridx;
 163
 164         /* ignore when strat is not running */
 165         if (strat_running == 0)
 166                 return;
 167
 168         IRQ_LOCK(flags);
 169         lcob = ballboard.lcob;
 170         ballboard.lcob = I2C_COB_NONE;
 171         rcob = ballboard.rcob;
 172         ballboard.rcob = I2C_COB_NONE;
 173         IRQ_UNLOCK(flags);
 174
 175         /* XXX take opponent position into account */
 176
 177 #ifdef HOST_VERSION
 178         if (time_get_s() == 15)
 179                 cobboard.cob_count = 5;
 180         if (time_get_s() == 16)
 181                 cobboard.cob_count = 0;
 182         if (time_get_s() == 25)
 183                 cobboard.cob_count = 5;
 184 #endif
 185
 186         /* detect cob on left side */
 187         lcob_near = corn_is_near(&lidx, I2C_LEFT_SIDE);
 188         if (lcob_near && lcob != I2C_COB_NONE) {
 189                 if (strat_db.corn_table[lidx]->corn.color == I2C_COB_UNKNOWN)
 190                         DEBUG(E_USER_STRAT, "lcob %s %d",
 191                               lcob == I2C_COB_WHITE ? "white" : "black", lidx);
 192                 corn_set_color(strat_db.corn_table[lidx], lcob);
 193         }
 194
 195         /* detect cob on right side */
 196         rcob_near = corn_is_near(&ridx, I2C_RIGHT_SIDE);
 197         if (rcob_near && rcob != I2C_COB_NONE) {
 198                 if (strat_db.corn_table[ridx]->corn.color == I2C_COB_UNKNOWN)
 199                         DEBUG(E_USER_STRAT, "rcob %s %d",
 200                               rcob == I2C_COB_WHITE ? "white" : "black", ridx);
 201                 corn_set_color(strat_db.corn_table[ridx], rcob);
 202         }
 203
 204         /* control the cobboard mode for left spickle */
 205         if (get_cob_count() >= 5 || want_pack) {
 206                 if (strat_db.corn_table[lidx]->corn.color != I2C_COB_WHITE &&
 207                     strat_db.corn_table[lidx]->corn.color != I2C_COB_BLACK)
 208                         i2c_cobboard_pack(I2C_LEFT_SIDE);
 209         }
 210         else {
 211                 if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
 212                         i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
 213                 else if (strat_db.corn_table[lidx]->corn.color == I2C_COB_BLACK)
 214                         i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
 215                 else
 216                         i2c_cobboard_deploy(I2C_LEFT_SIDE);
 217         }
 218
 219         /* control the cobboard mode for right spickle */
 220         if (get_cob_count() >= 5 || want_pack) {
 221                 if (strat_db.corn_table[lidx]->corn.color != I2C_COB_WHITE &&
 222                     strat_db.corn_table[lidx]->corn.color != I2C_COB_BLACK)
 223                         i2c_cobboard_pack(I2C_RIGHT_SIDE);
 224         }
 225         else {
 226                 if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
 227                         i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
 228                 else if (strat_db.corn_table[lidx]->corn.color == I2C_COB_BLACK)
 229                         i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
 230                 else
 231                         i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 232         }
 233
 234         /* limit speed when opponent is near */
 235         strat_limit_speed();
 236 }
 237
 238
 239 static uint8_t strat_harvest(void)
 240 {
 241         return 0;
 242 }
 243
 244 static uint8_t strat_eject(void)
 245 {
 246         uint8_t err;
 247
 248         //XXX return vals
 249         strat_set_speed(600, SPEED_ANGLE_SLOW);
 250
 251         trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
 252         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 253         trajectory_a_abs(&mainboard.traj, COLOR_A(70));
 254         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 255
 256         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 257         strat_hardstop();
 258
 259         /* ball ejection */
 260         trajectory_a_abs(&mainboard.traj, COLOR_A(90));
 261         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 262         time_wait_ms(2000);
 263
 264         /* half turn */
 265         i2c_cobboard_pack(I2C_LEFT_SIDE);
 266         i2c_cobboard_pack(I2C_RIGHT_SIDE);
 267         trajectory_a_rel(&mainboard.traj, COLOR_A(180));
 268         err = wait_traj_end(END_INTR|END_TRAJ);
 269
 270         /* cob ejection */
 271         trajectory_d_rel(&mainboard.traj, -100);
 272         err = wait_traj_end(END_INTR|END_TRAJ);
 273         strat_running = ;
 274         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 275         time_wait_ms(2000);
 276
 277         return 0;
 278 }
 279
 280 static uint8_t strat_beginning(void)
 281 {
 282         uint8_t err;
 283
 284         strat_set_acc(ACC_DIST, ACC_ANGLE);
 285 #ifdef HOST_VERSION
 286         strat_set_speed(600, SPEED_ANGLE_FAST);
 287 #else
 288         /* 250 */
 289         strat_set_speed(250, SPEED_ANGLE_FAST);
 290 #endif
 291
 292         // strat_set_speed(600, 60); /* OK */
 293         strat_set_speed(250, 28); /* OK */
 294
 295         trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
 296         err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 297                                     TRAJ_FLAGS_STD);
 298
 299         strat_set_acc(ACC_DIST, ACC_ANGLE);
 300         strat_set_speed(250, SPEED_ANGLE_SLOW);
 301
 302 #if 1
 303  l1:
 304         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 305         if (get_cob_count() >= 5)
 306                 strat_set_speed(600, SPEED_ANGLE_FAST);
 307
 308         err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
 309         if (!TRAJ_SUCCESS(err)) {
 310                 strat_hardstop();
 311                 time_wait_ms(2000);
 312                 goto l1;
 313         }
 314
 315  l2:
 316         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 317         if (get_cob_count() >= 5)
 318                 strat_set_speed(600, SPEED_ANGLE_FAST);
 319
 320         err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
 321         if (!TRAJ_SUCCESS(err)) {
 322                 strat_hardstop();
 323                 time_wait_ms(2000);
 324                 goto l2;
 325         }
 326
 327 #else
 328         strat_set_speed(600, SPEED_ANGLE_FAST);
 329         err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
 330         err = line2line(LINE_R_DOWN, 3, LINE_R_UP, 2);
 331         err = line2line(LINE_R_UP, 2, LINE_R_DOWN, 2);
 332         err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 3);
 333         err = line2line(LINE_R_UP, 3, LINE_UP, 5);
 334         err = line2line(LINE_UP, 5, LINE_L_DOWN, 2);
 335         err = line2line(LINE_L_DOWN, 2, LINE_L_UP, 1);
 336         err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
 337         err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
 338         wait_ms(500);
 339         strat_hardstop();
 340         return END_TRAJ;
 341 #endif
 342
 343         strat_eject();
 344
 345         strat_set_speed(250, SPEED_ANGLE_FAST);
 346
 347  l4:
 348         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 349         if (get_cob_count() >= 5)
 350                 strat_set_speed(600, SPEED_ANGLE_FAST);
 351
 352         err = line2line(LINE_DOWN, 5, LINE_L_UP, 2);
 353         if (!TRAJ_SUCCESS(err)) {
 354                 strat_hardstop();
 355                 time_wait_ms(2000);
 356                 goto l4;
 357         }
 358
 359  l5:
 360         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 361         if (get_cob_count() >= 5)
 362                 strat_set_speed(600, SPEED_ANGLE_FAST);
 363
 364         err = line2line(LINE_L_UP, 2, LINE_R_UP, 2);
 365         if (!TRAJ_SUCCESS(err)) {
 366                 strat_hardstop();
 367                 time_wait_ms(2000);
 368                 goto l5;
 369         }
 370
 371         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 372         if (get_cob_count() >= 5)
 373                 strat_set_speed(600, SPEED_ANGLE_FAST);
 374
 375         WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
 376                               TRAJ_FLAGS_STD);
 377         strat_eject();
 378
 379         return END_TRAJ;
 380 }
 381
 382 /* dump state (every 5 s max) */
 383 #define DUMP_RATE_LIMIT(dump, last_print)               \
 384         do {                                            \
 385                 if (time_get_s() - last_print > 5) {    \
 386                         dump();                         \
 387                         last_print = time_get_s();      \
 388                 }                                       \
 389         } while (0)
 390
 391
 392 /* return true if we need to grab some more elements */
 393 static uint8_t need_more_elements(void)
 394 {
 395         if (time_get_s() <= 75) {
 396                 /* we have enough time left */
 397                 if (get_ball_count() >= 4)
 398                         return 0;
 399                 if (get_cob_count() >= 4)
 400                         return 0;
 401                 if ((get_ball_count() >= 2) &&
 402                     (get_cob_count() >= 2))
 403                         return 0;
 404                 return 1;
 405         }
 406         else {
 407                 /* not much time remaining */
 408                 if ((get_ball_count() >= 1) &&
 409                     (get_cob_count() >= 1))
 410                         return 0;
 411                 return 1;
 412         }
 413 }
 414
 415 uint8_t strat_main(void)
 416 {
 417         uint8_t err;
 418
 419         /* harvest the first cobs + balls */
 420         err = strat_beginning();
 421
 422         while (1) {
 423                 /* end of time exit ! */
 424                 if (err == END_TIMER) {
 425                         DEBUG(E_USER_STRAT, "End of time");
 426                         strat_exit();
 427                         break;
 428                 }
 429
 430                 if (need_more_elements() == 0) {
 431                         /* we have enough elements, go to eject */
 432                         err = strat_eject();
 433                         if (!TRAJ_SUCCESS(err))
 434                                 continue;
 435                 }
 436                 else {
 437                         /* harvest */
 438                         err = strat_harvest();
 439                         if (!TRAJ_SUCCESS(err))
 440                                 continue;
 441                 }
 442         }
 443
 444         return err;
 445 }