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