projects/microb2010/mainboard/strat.h

   1 /*
   2  *  Copyright Droids Corporation, Microb Technology, Eirbot (2008)
   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.h,v 1.7 2009-11-08 17:24:33 zer0 Exp $
  19  *
  20  */
  21
  22 #ifndef _STRAT_H_
  23 #define _STRAT_H_
  24
  25 /* convert coords according to our color */
  26 #define COLOR_Y(y)     ((mainboard.our_color==I2C_COLOR_YELLOW)? (y) : (AREA_Y-(y)))
  27 #define COLOR_A(a)     ((mainboard.our_color==I2C_COLOR_YELLOW)? (a) : (-a))
  28 #define COLOR_SIGN(x)  ((mainboard.our_color==I2C_COLOR_YELLOW)? (x) : (-x))
  29 #define COLOR_INVERT(x) ((mainboard.our_color==I2C_COLOR_YELLOW)? (x) : (!x))
  30
  31 /* area */
  32 #define AREA_X 3000
  33 #define AREA_Y 2100
  34
  35 #define START_X 200
  36 #define START_Y COLOR_Y(200)
  37 #define START_A COLOR_A(45)
  38
  39 #define CENTER_X 1500
  40 #define CENTER_Y 1050
  41
  42 #define CORNER_X 3000
  43 #define CORNER_Y COLOR_Y(2100)
  44
  45 /* XXX these offset are not related to corn, but to waypoints */
  46 #define OFFSET_CORN_X 150
  47 #define OFFSET_CORN_Y 222
  48 #define STEP_CORN_X 225
  49 #define STEP_CORN_Y 250
  50
  51 #define CORN_NB 18
  52 #define TOMATO_NB 14
  53
  54 #define WAYPOINTS_NBX 13
  55 #define WAYPOINTS_NBY 8
  56
  57 /*
  58  * Corn position and lines, valid for YELLOW.
  59  *
  60  *           vertical lines
  61  *            O     1     2     3     4     5
  62  * 2100 +-----|-----|-----|-----|-----|-----|-----+
  63  *      |        c5          c9         c14       |
  64  *      |  c2          c7         c11         c17 |   diag
  65  *      |        c4          c8         c13       |   lines
  66  *     0/  c1          c6         c10         c16 \0
  67  *  y   |        c3                     c12       |
  68  *     1/  c0                                 c15 \1
  69  *      |-----+                             +-----|
  70  *     2/     |                             |     \2
  71  *      | Yellow                           Blue   |
  72  *   0  +-----+-----------------------------+-----+
  73  *     0                  x                      3000
  74  *
  75  * Ball (tomato) and i,j coords (for waypoints)
  76  *
  77  * 2100 +--0--1--2--3--4--5--6--7--8--9-10-11-12--+
  78  *      7              t5          t9             |
  79  *      6        t3          t7         t11       |
  80  *      5  t1          t4          t8         t13 |
  81  *      4        t2          t6         t10       |
  82  *  y   3  t0                                 t12 |
  83  *      2                                         |
  84  *      1-----+                             +-----|
  85  *      0     |                             |     |
  86  *      | Yellow                           Blue   |
  87  *   0  +-----+-----------------------------+-----+
  88  *     0                  x                      3000
  89  *
  90  *
  91  * Corn position and lines, valid for BLUE.
  92  *
  93  *           vertical lines
  94  *            5     4     3     2     1     0
  95  *    0 +-----|-----|-----|-----|-----|-----|-----+
  96  *      |        c14         c9         c5        |
  97  *      |  c17         c11        c7          c2  |   diag
  98  *      |        c13         c8         c4        |   lines
  99  *     0/  c16         c10        c6          c1  \0
 100  *  y   |        c12                    c3        |
 101  *     1/  c15                                c0  \1
 102  *      |-----+                             +-----|
 103  *     2/     |                             |     \2
 104  *      | Yellow                           Blue   |
 105  * 2100 +-----+-----------------------------+-----+
 106  *    3000                x                       0
 107  *
 108  * Ball (tomato) and i,j coords (for waypoints)
 109  *
 110  *    0 +-12-11-10--9--8--7--6--5--4--3--2--1--0--+
 111  *      7              t9          t5             |
 112  *      6       t11          t7         t3        |
 113  *      5 t13          t8          t4         t1  |
 114  *      4       t10          t6         t2        |
 115  *  y   3 t12                                 t0  |
 116  *      2                                         |
 117  *      1-----+                             +-----|
 118  *      0     |                             |     |
 119  *      | Yellow                           Blue   |
 120  * 2100 +-----+-----------------------------+-----+
 121  *   3000                 x                       0
 122  *
 123  */
 124
 125 /* useful traj flags */
 126 #define TRAJ_SUCCESS(f) (f & (END_TRAJ|END_NEAR))
 127 #define TRAJ_FLAGS_STD (END_TRAJ|END_BLOCKING|END_NEAR|END_OBSTACLE|END_INTR|END_TIMER)
 128 #define TRAJ_FLAGS_NO_TIMER (END_TRAJ|END_BLOCKING|END_NEAR|END_OBSTACLE|END_INTR)
 129 #define TRAJ_FLAGS_NO_NEAR (END_TRAJ|END_BLOCKING|END_OBSTACLE|END_INTR|END_TIMER)
 130 #define TRAJ_FLAGS_NO_NEAR_NO_TIMER (END_TRAJ|END_BLOCKING|END_OBSTACLE|END_INTR)
 131 #define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
 132
 133 /* default acc */
 134 #define ACC_DIST  16.
 135 #define ACC_ANGLE 16.
 136
 137 /* default speeds */
 138 #define SPEED_DIST_FAST 1500.
 139 #define SPEED_ANGLE_FAST 1000.
 140 #define SPEED_DIST_SLOW 500.
 141 #define SPEED_ANGLE_SLOW 500.
 142 #define SPEED_DIST_VERY_SLOW 200.
 143 #define SPEED_ANGLE_VERY_SLOW 200.
 144
 145 #define SPEED_CLITOID_SLOW 250.
 146 #define SPEED_CLITOID_FAST 500.
 147
 148
 149 /* strat infos structures */
 150 struct strat_conf {
 151         uint8_t dump_enabled;
 152
 153         uint8_t opp_orange;
 154         uint8_t orphan_tomato;
 155
 156 #define STRAT_CONF_OUR_ORANGE   0x01
 157         uint8_t flags;
 158 };
 159
 160 extern struct strat_conf strat_conf;
 161 extern volatile uint8_t strat_lpack60;
 162 extern volatile uint8_t strat_rpack60;
 163 extern volatile uint8_t strat_want_pack;
 164
 165 /* in strat.c */
 166 void strat_conf_dump(const char *caller);
 167 void strat_reset_infos(void); /* reset current known state */
 168 void strat_preinit(void);
 169 void strat_init(void);
 170 void strat_exit(void);
 171 void strat_dump_flags(void);
 172 void strat_goto_near(int16_t x, int16_t y, uint16_t dist);
 173 uint8_t strat_main(void);
 174 void strat_event(void *dummy);
 175 void strat_event_enable(void);
 176 void strat_event_disable(void);
 177 uint8_t run_to_the_hills(uint8_t orange_color);
 178 uint8_t get_orphan_tomatoes(void);
 179
 180 #endif