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 static volatile uint8_t strat_running = 0;
71 static volatile uint8_t want_pack = 0;
72 struct strat_conf strat_conf;
74 /*************************************************************/
78 /*************************************************************/
80 /* called before each strat, and before the start switch */
81 void strat_preinit(void)
84 interrupt_traj_reset();
85 mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
86 DO_POS | DO_BD | DO_POWER;
88 //i2c_cobboard_mode_init();
89 strat_conf_dump(__FUNCTION__);
90 strat_db_dump(__FUNCTION__);
93 void strat_conf_dump(const char *caller)
95 if (!strat_conf.dump_enabled)
98 printf_P(PSTR("-- conf --\r\n"));
102 void strat_event_enable(void)
107 void strat_event_disable(void)
112 /* call it just before launching the strat */
113 void strat_init(void)
116 position_set(&mainboard.pos, 298.16,
117 COLOR_Y(308.78), COLOR_A(70.00));
120 /* we consider that the color is correctly set */
123 strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
125 interrupt_traj_reset();
127 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
128 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
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;
135 /* call it after each strat */
136 void strat_exit(void)
143 mainboard.flags &= ~(DO_TIMER);
149 mainboard.flags &= ~(DO_CS);
151 pwm_ng_set(LEFT_PWM, 0);
152 pwm_ng_set(RIGHT_PWM, 0);
156 /* called periodically (10ms) */
157 void strat_event(void *dummy)
160 int8_t lcob_near, rcob_near;
164 /* ignore when strat is not running */
165 if (strat_running == 0)
169 lcob = ballboard.lcob;
170 ballboard.lcob = I2C_COB_NONE;
171 rcob = ballboard.rcob;
172 ballboard.rcob = I2C_COB_NONE;
175 /* XXX take opponent position into account */
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;
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);
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);
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);
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);
216 i2c_cobboard_deploy(I2C_LEFT_SIDE);
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);
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);
231 i2c_cobboard_deploy(I2C_RIGHT_SIDE);
234 /* limit speed when opponent is near */
239 static uint8_t strat_harvest(void)
244 static uint8_t strat_eject(void)
249 strat_set_speed(600, SPEED_ANGLE_SLOW);
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);
256 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
260 trajectory_a_abs(&mainboard.traj, COLOR_A(90));
261 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
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);
271 trajectory_d_rel(&mainboard.traj, -100);
272 err = wait_traj_end(END_INTR|END_TRAJ);
274 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
280 static uint8_t strat_beginning(void)
284 strat_set_acc(ACC_DIST, ACC_ANGLE);
286 strat_set_speed(600, SPEED_ANGLE_FAST);
289 strat_set_speed(250, SPEED_ANGLE_FAST);
292 // strat_set_speed(600, 60); /* OK */
293 strat_set_speed(250, 28); /* OK */
295 trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
296 err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
299 strat_set_acc(ACC_DIST, ACC_ANGLE);
300 strat_set_speed(250, SPEED_ANGLE_SLOW);
304 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
305 if (get_cob_count() >= 5)
306 strat_set_speed(600, SPEED_ANGLE_FAST);
308 err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
309 if (!TRAJ_SUCCESS(err)) {
316 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
317 if (get_cob_count() >= 5)
318 strat_set_speed(600, SPEED_ANGLE_FAST);
320 err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
321 if (!TRAJ_SUCCESS(err)) {
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);
345 strat_set_speed(250, SPEED_ANGLE_FAST);
348 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
349 if (get_cob_count() >= 5)
350 strat_set_speed(600, SPEED_ANGLE_FAST);
352 err = line2line(LINE_DOWN, 5, LINE_L_UP, 2);
353 if (!TRAJ_SUCCESS(err)) {
360 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
361 if (get_cob_count() >= 5)
362 strat_set_speed(600, SPEED_ANGLE_FAST);
364 err = line2line(LINE_L_UP, 2, LINE_R_UP, 2);
365 if (!TRAJ_SUCCESS(err)) {
371 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
372 if (get_cob_count() >= 5)
373 strat_set_speed(600, SPEED_ANGLE_FAST);
375 WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
382 /* dump state (every 5 s max) */
383 #define DUMP_RATE_LIMIT(dump, last_print) \
385 if (time_get_s() - last_print > 5) { \
387 last_print = time_get_s(); \
392 /* return true if we need to grab some more elements */
393 static uint8_t need_more_elements(void)
395 if (time_get_s() <= 75) {
396 /* we have enough time left */
397 if (get_ball_count() >= 4)
399 if (get_cob_count() >= 4)
401 if ((get_ball_count() >= 2) &&
402 (get_cob_count() >= 2))
407 /* not much time remaining */
408 if ((get_ball_count() >= 1) &&
409 (get_cob_count() >= 1))
415 uint8_t strat_main(void)
419 /* harvest the first cobs + balls */
420 err = strat_beginning();
423 /* end of time exit ! */
424 if (err == END_TIMER) {
425 DEBUG(E_USER_STRAT, "End of time");
430 if (need_more_elements() == 0) {
431 /* we have enough elements, go to eject */
433 if (!TRAJ_SUCCESS(err))
438 err = strat_harvest();
439 if (!TRAJ_SUCCESS(err))