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