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 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 /* call it just before launching the strat */
 102 void strat_init(void)
 103 {
 104 #ifdef HOST_VERSION
 105         position_set(&mainboard.pos, 298.16,
 106                      COLOR_Y(308.78), COLOR_A(70.00));
 107 #endif
 108
 109         /* we consider that the color is correctly set */
 110         strat_running = 1;
 111         strat_db_init();
 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_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 118
 119         /* used in strat_base for END_TIMER */
 120         mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 121                 DO_POS | DO_BD | DO_TIMER | DO_POWER;
 122 }
 123
 124
 125 /* call it after each strat */
 126 void strat_exit(void)
 127 {
 128 #ifndef HOST_VERSION
 129         uint8_t flags;
 130 #endif
 131
 132         strat_running = 0;
 133         mainboard.flags &= ~(DO_TIMER);
 134         strat_hardstop();
 135         time_reset();
 136         wait_ms(100);
 137 #ifndef HOST_VERSION
 138         IRQ_LOCK(flags);
 139         mainboard.flags &= ~(DO_CS);
 140         IRQ_UNLOCK(flags);
 141         pwm_ng_set(LEFT_PWM, 0);
 142         pwm_ng_set(RIGHT_PWM, 0);
 143 #endif
 144 }
 145
 146 /* called periodically (10ms) */
 147 void strat_event(void *dummy)
 148 {
 149         uint8_t flags;
 150         uint8_t lcob, rcob;
 151         uint8_t lidx, ridx;
 152
 153         /* ignore when strat is not running */
 154         if (strat_running == 0)
 155                 return;
 156
 157         IRQ_LOCK(flags);
 158         lcob = ballboard.lcob;
 159         ballboard.lcob = I2C_COB_NONE;
 160         rcob = ballboard.rcob;
 161         ballboard.rcob = I2C_COB_NONE;
 162         IRQ_UNLOCK(flags);
 163
 164         /* XXX take opponent position into account */
 165
 166 #ifdef HOST_VERSION
 167         if (time_get_s() == 15)
 168                 cobboard.cob_count = 5;
 169         if (time_get_s() == 16)
 170                 cobboard.cob_count = 0;
 171         if (time_get_s() == 25)
 172                 cobboard.cob_count = 5;
 173 #endif
 174
 175         /* detect cob on left side */
 176         if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
 177                 if (lcob != I2C_COB_NONE) {
 178                         corn_set_color(strat_db.corn_table[lidx], lcob);
 179                         DEBUG(E_USER_STRAT, "lcob %s %d",
 180                               lcob == I2C_COB_WHITE ? "white" : "black", lidx);
 181                 }
 182                 if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
 183                         i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
 184                 else
 185                         i2c_cobboard_deploy(I2C_LEFT_SIDE);
 186         }
 187         else {
 188                 i2c_cobboard_deploy(I2C_LEFT_SIDE);
 189         }
 190
 191         /* detect cob on right side */
 192         if (corn_is_near(&ridx, I2C_RIGHT_SIDE)) {
 193                 if (rcob != I2C_COB_NONE) {
 194                         corn_set_color(strat_db.corn_table[ridx], rcob);
 195                         DEBUG(E_USER_STRAT, "rcob %s %d",
 196                               rcob == I2C_COB_WHITE ? "white" : "black", ridx);
 197                 }
 198                 if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
 199                         i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
 200                 else
 201                         i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 202         }
 203         else {
 204                 i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 205         }
 206
 207
 208         /* limit speed when opponent is close */
 209         strat_limit_speed();
 210 }
 211
 212 static uint8_t strat_beginning(void)
 213 {
 214         uint8_t err;
 215
 216         strat_set_acc(ACC_DIST, ACC_ANGLE);
 217 #ifdef HOST_VERSION
 218         strat_set_speed(600, SPEED_ANGLE_FAST);
 219 #else
 220         /* 250 */
 221         strat_set_speed(250, SPEED_ANGLE_FAST);
 222 #endif
 223
 224
 225         // strat_set_speed(600, 60); /* OK */
 226         strat_set_speed(250, 28); /* OK */
 227
 228         trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
 229         err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 230                                     TRAJ_FLAGS_STD);
 231
 232         strat_set_acc(ACC_DIST, ACC_ANGLE);
 233
 234 #if 1
 235  l1:
 236         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 237         if (get_cob_count() >= 5)
 238                 strat_set_speed(600, SPEED_ANGLE_FAST);
 239
 240         err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
 241         if (!TRAJ_SUCCESS(err)) {
 242                 strat_hardstop();
 243                 time_wait_ms(2000);
 244                 goto l1;
 245         }
 246
 247  l2:
 248         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 249         if (get_cob_count() >= 5)
 250                 strat_set_speed(600, SPEED_ANGLE_FAST);
 251
 252         err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
 253         if (!TRAJ_SUCCESS(err)) {
 254                 strat_hardstop();
 255                 time_wait_ms(2000);
 256                 goto l2;
 257         }
 258
 259         WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
 260                               TRAJ_FLAGS_STD);
 261         trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
 262         err = wait_traj_end(END_INTR|END_TRAJ);
 263
 264 #else
 265         strat_set_speed(600, SPEED_ANGLE_FAST);
 266         err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
 267         err = line2line(LINE_R_DOWN, 3, LINE_R_UP, 2);
 268         err = line2line(LINE_R_UP, 2, LINE_R_DOWN, 2);
 269         err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 3);
 270         err = line2line(LINE_R_UP, 3, LINE_UP, 5);
 271         err = line2line(LINE_UP, 5, LINE_L_DOWN, 2);
 272         err = line2line(LINE_L_DOWN, 2, LINE_L_UP, 1);
 273         err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
 274         err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
 275         wait_ms(500);
 276         strat_hardstop();
 277         return END_TRAJ;
 278 #endif
 279
 280         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 281         strat_hardstop();
 282         strat_set_speed(600, SPEED_ANGLE_FAST);
 283
 284         /* ball ejection */
 285         trajectory_a_abs(&mainboard.traj, COLOR_A(90));
 286         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 287         time_wait_ms(2000);
 288
 289         /* half turn */
 290         i2c_cobboard_pack(I2C_LEFT_SIDE);
 291         i2c_cobboard_pack(I2C_RIGHT_SIDE);
 292         trajectory_a_rel(&mainboard.traj, COLOR_A(180));
 293         err = wait_traj_end(END_INTR|END_TRAJ);
 294
 295         /* cob ejection */
 296         trajectory_d_rel(&mainboard.traj, -100);
 297         err = wait_traj_end(END_INTR|END_TRAJ);
 298         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 299         time_wait_ms(2000);
 300
 301         strat_set_speed(250, SPEED_ANGLE_FAST);
 302
 303  l4:
 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_DOWN, 5, LINE_L_UP, 2);
 309         if (!TRAJ_SUCCESS(err)) {
 310                 strat_hardstop();
 311                 time_wait_ms(2000);
 312                 goto l4;
 313         }
 314
 315  l5:
 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_L_UP, 2, LINE_R_UP, 2);
 321         if (!TRAJ_SUCCESS(err)) {
 322                 strat_hardstop();
 323                 time_wait_ms(2000);
 324                 goto l5;
 325         }
 326
 327         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 328         if (get_cob_count() >= 5)
 329                 strat_set_speed(600, SPEED_ANGLE_FAST);
 330
 331         WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
 332                               TRAJ_FLAGS_STD);
 333         trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
 334         err = wait_traj_end(END_INTR|END_TRAJ);
 335
 336         DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 337         strat_hardstop();
 338         strat_set_speed(600, SPEED_ANGLE_FAST);
 339
 340         /* ball ejection */
 341         trajectory_a_abs(&mainboard.traj, COLOR_A(90));
 342         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 343         time_wait_ms(2000);
 344
 345         /* half turn */
 346         i2c_cobboard_pack(I2C_LEFT_SIDE);
 347         i2c_cobboard_pack(I2C_RIGHT_SIDE);
 348         trajectory_a_rel(&mainboard.traj, COLOR_A(180));
 349         err = wait_traj_end(END_INTR|END_TRAJ);
 350
 351         /* cob ejection */
 352         trajectory_d_rel(&mainboard.traj, -100);
 353         err = wait_traj_end(END_INTR|END_TRAJ);
 354         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 355         time_wait_ms(2000);
 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 static uint8_t strat_harvest(void)
 394 {
 395         return 0;
 396 }
 397
 398 static uint8_t strat_eject(void)
 399 {
 400         return 0;
 401 }
 402
 403 uint8_t strat_main(void)
 404 {
 405         uint8_t err;
 406
 407         /* harvest the first cobs + balls */
 408         err = strat_beginning();
 409
 410         while (1) {
 411                 /* end of time exit ! */
 412                 if (err == END_TIMER) {
 413                         DEBUG(E_USER_STRAT, "End of time");
 414                         strat_exit();
 415                         break;
 416                 }
 417
 418                 if (need_more_elements() == 0) {
 419                         /* we have enough elements, go to eject */
 420                         err = strat_eject();
 421                         if (!TRAJ_SUCCESS(err))
 422                                 continue;
 423                 }
 424                 else {
 425                         /* harvest */
 426                         err = strat_harvest();
 427                         if (!TRAJ_SUCCESS(err))
 428                                 continue;
 429                 }
 430         }
 431
 432         return err;
 433 }