strat db

[aversive.git] / projects / microb2010 / mainboard / commands_traj.c

diff --git a/projects/microb2010/mainboard/commands_traj.c b/projects/microb2010/mainboard/commands_traj.c
index 8c59996..d63f57a 100644 (file)
--- a/projects/microb2010/mainboard/commands_traj.c
+++ b/projects/microb2010/mainboard/commands_traj.c
@@ -59,6 +59,7 @@
 #include "strat_utils.h"
 #include "strat_base.h"
 #include "strat.h"
 #include "strat_utils.h"
 #include "strat_base.h"
 #include "strat.h"

+#include "strat_db.h"

 #include "../common/i2c_commands.h"
 #include "i2c_protocol.h"
 
 #include "../common/i2c_commands.h"
 #include "i2c_protocol.h"
 


@@ -766,14 +767,13 @@ static void auto_position(void)
        strat_get_speed(&old_spdd, &old_spda);
        strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
 
        strat_get_speed(&old_spdd, &old_spda);
        strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
 

-       trajectory_d_rel(&mainboard.traj, 300);
-       err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
+       err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);

        if (err == END_INTR)
                goto intr;
        if (err == END_INTR)
                goto intr;

-       wait_ms(100);
-       strat_reset_pos(ROBOT_WIDTH/2,
+       strat_reset_pos(ROBOT_WIDTH/2 + 100,

                        COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
                        COLOR_A(-90));
                        COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
                        COLOR_A(-90));

+       strat_hardstop();

 
        trajectory_d_rel(&mainboard.traj, -180);
        err = wait_traj_end(END_INTR|END_TRAJ);
 
        trajectory_d_rel(&mainboard.traj, -180);
        err = wait_traj_end(END_INTR|END_TRAJ);


@@ -785,14 +785,13 @@ static void auto_position(void)
        if (err == END_INTR)
                goto intr;
 
        if (err == END_INTR)
                goto intr;
 

-       trajectory_d_rel(&mainboard.traj, 300);
-       err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
+       err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);

        if (err == END_INTR)
                goto intr;
        if (err == END_INTR)
                goto intr;

-       wait_ms(100);

        strat_reset_pos(ROBOT_HALF_LENGTH_FRONT,
                        DO_NOT_SET_POS,
                        180);
        strat_reset_pos(ROBOT_HALF_LENGTH_FRONT,
                        DO_NOT_SET_POS,
                        180);

+       strat_hardstop();

 
        trajectory_d_rel(&mainboard.traj, -170);
        err = wait_traj_end(END_INTR|END_TRAJ);
 
        trajectory_d_rel(&mainboard.traj, -170);
        err = wait_traj_end(END_INTR|END_TRAJ);


@@ -893,37 +892,37 @@ parse_pgm_inst_t cmd_position_set = {
 /**********************************************************/
 /* strat configuration */
 
 /**********************************************************/
 /* strat configuration */
 

-/* this structure is filled when cmd_strat_infos is parsed successfully */
-struct cmd_strat_infos_result {
+/* this structure is filled when cmd_strat_db is parsed successfully */
+struct cmd_strat_db_result {

        fixed_string_t arg0;
        fixed_string_t arg1;
 };
 
        fixed_string_t arg0;
        fixed_string_t arg1;
 };
 

-/* function called when cmd_strat_infos is parsed successfully */
-static void cmd_strat_infos_parsed(void *parsed_result, void *data)
+/* function called when cmd_strat_db is parsed successfully */
+static void cmd_strat_db_parsed(void *parsed_result, void *data)

 {
 {

-       struct cmd_strat_infos_result *res = parsed_result;
+       struct cmd_strat_db_result *res = parsed_result;

 
        if (!strcmp_P(res->arg1, PSTR("reset"))) {
 
        if (!strcmp_P(res->arg1, PSTR("reset"))) {

-               strat_reset_infos();
+               strat_db_init();

        }
        }

-       strat_infos.dump_enabled = 1;
-       strat_dump_infos(__FUNCTION__);
+       strat_db.dump_enabled = 1;
+       strat_db_dump(__FUNCTION__);

 }
 
 }
 

-prog_char str_strat_infos_arg0[] = "strat_infos";
-parse_pgm_token_string_t cmd_strat_infos_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg0, str_strat_infos_arg0);
-prog_char str_strat_infos_arg1[] = "show#reset";
-parse_pgm_token_string_t cmd_strat_infos_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg1, str_strat_infos_arg1);
+prog_char str_strat_db_arg0[] = "strat_db";
+parse_pgm_token_string_t cmd_strat_db_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_db_result, arg0, str_strat_db_arg0);
+prog_char str_strat_db_arg1[] = "show#reset";
+parse_pgm_token_string_t cmd_strat_db_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_db_result, arg1, str_strat_db_arg1);

 
 

-prog_char help_strat_infos[] = "reset/show strat_infos";
-parse_pgm_inst_t cmd_strat_infos = {
-       .f = cmd_strat_infos_parsed,  /* function to call */
+prog_char help_strat_db[] = "reset/show strat_db";
+parse_pgm_inst_t cmd_strat_db = {
+       .f = cmd_strat_db_parsed,  /* function to call */

        .data = NULL,      /* 2nd arg of func */
        .data = NULL,      /* 2nd arg of func */

-       .help_str = help_strat_infos,
+       .help_str = help_strat_db,

        .tokens = {        /* token list, NULL terminated */
        .tokens = {        /* token list, NULL terminated */

-               (prog_void *)&cmd_strat_infos_arg0,
-               (prog_void *)&cmd_strat_infos_arg1,
+               (prog_void *)&cmd_strat_db_arg0,
+               (prog_void *)&cmd_strat_db_arg1,

                NULL,
        },
 };
                NULL,
        },
 };


@@ -941,9 +940,8 @@ struct cmd_strat_conf_result {
 static void cmd_strat_conf_parsed(void *parsed_result, void *data)
 {
        //      struct cmd_strat_conf_result *res = parsed_result;
 static void cmd_strat_conf_parsed(void *parsed_result, void *data)
 {
        //      struct cmd_strat_conf_result *res = parsed_result;

-
-       strat_infos.dump_enabled = 1;
-       strat_dump_conf();
+       strat_conf.dump_enabled = 1;
+       strat_conf_dump(__FUNCTION__);

 }
 
 prog_char str_strat_conf_arg0[] = "strat_conf";
 }
 
 prog_char str_strat_conf_arg0[] = "strat_conf";


@@ -1004,12 +1002,12 @@ static void cmd_strat_conf2_parsed(void *parsed_result, void *data)
 #endif
 
        if (on)
 #endif
 
        if (on)

-               strat_infos.conf.flags |= bit;
+               strat_conf.flags |= bit;

        else
        else

-               strat_infos.conf.flags &= (~bit);
+               strat_conf.flags &= (~bit);

 
 

-       strat_infos.dump_enabled = 1;
-       strat_dump_conf();
+       strat_conf.dump_enabled = 1;
+       strat_conf_dump(__FUNCTION__);

 }
 
 prog_char str_strat_conf2_arg0[] = "strat_conf";
 }
 
 prog_char str_strat_conf2_arg0[] = "strat_conf";


@@ -1052,32 +1050,32 @@ static void cmd_strat_conf3_parsed(void *parsed_result, void *data)
        if (!strcmp_P(res->arg1, PSTR("scan_opponent_min_time"))) {
                if (res->arg2 > 90)
                        res->arg2 = 90;
        if (!strcmp_P(res->arg1, PSTR("scan_opponent_min_time"))) {
                if (res->arg2 > 90)
                        res->arg2 = 90;

-               strat_infos.conf.scan_opp_min_time = res->arg2;
+               strat_conf.scan_opp_min_time = res->arg2;

        }
        else if (!strcmp_P(res->arg1, PSTR("delay_between_opponent_scan"))) {
                if (res->arg2 > 90)
                        res->arg2 = 90;
        }
        else if (!strcmp_P(res->arg1, PSTR("delay_between_opponent_scan"))) {
                if (res->arg2 > 90)
                        res->arg2 = 90;

-               strat_infos.conf.delay_between_opp_scan = res->arg2;
+               strat_conf.delay_between_opp_scan = res->arg2;

        }
        else if (!strcmp_P(res->arg1, PSTR("scan_our_min_time"))) {
                if (res->arg2 > 90)
                        res->arg2 = 90;
        }
        else if (!strcmp_P(res->arg1, PSTR("scan_our_min_time"))) {
                if (res->arg2 > 90)
                        res->arg2 = 90;

-               strat_infos.conf.scan_our_min_time = res->arg2;
+               strat_conf.scan_our_min_time = res->arg2;

        }
        else if (!strcmp_P(res->arg1, PSTR("delay_between_our_scan"))) {
                if (res->arg2 > 90)
                        res->arg2 = 90;
        }
        else if (!strcmp_P(res->arg1, PSTR("delay_between_our_scan"))) {
                if (res->arg2 > 90)
                        res->arg2 = 90;

-               strat_infos.conf.delay_between_our_scan = res->arg2;
+               strat_conf.delay_between_our_scan = res->arg2;

        }
        else if (!strcmp_P(res->arg1, PSTR("wait_opponent"))) {
        }
        else if (!strcmp_P(res->arg1, PSTR("wait_opponent"))) {

-               strat_infos.conf.wait_opponent = res->arg2;
+               strat_conf.wait_opponent = res->arg2;

        }
        else if (!strcmp_P(res->arg1, PSTR("lintel_min_time"))) {
        }
        else if (!strcmp_P(res->arg1, PSTR("lintel_min_time"))) {

-               strat_infos.conf.lintel_min_time = res->arg2;
+               strat_conf.lintel_min_time = res->arg2;

        }
 #endif
        }
 #endif

-       strat_infos.dump_enabled = 1;
-       strat_dump_conf();
+       strat_conf.dump_enabled = 1;
+       strat_conf_dump(__FUNCTION__);

 }
 
 prog_char str_strat_conf3_arg0[] = "strat_conf";
 }
 
 prog_char str_strat_conf3_arg0[] = "strat_conf";