static volatile uint8_t strat_running = 0;
static volatile uint8_t want_pack = 0;
+volatile uint8_t strat_lpack60 = 0;
+volatile uint8_t strat_rpack60 = 0;
struct strat_conf strat_conf;
/*************************************************************/
#endif
}
-/* called periodically (10ms) */
-void strat_event(void *dummy)
+/* mark tomato as not present */
+static void check_tomato(void)
+{
+ int16_t x, y;
+ uint8_t i, j;
+
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
+
+ if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+ return;
+
+ if (strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
+ return;
+
+ strat_db.wp_table[i][j].present = 0;
+}
+
+/* mark corn as not present and give correct commands to the cobboard
+ * for spickles */
+static void check_corn(void)
{
uint8_t flags;
int8_t lcob_near, rcob_near;
uint8_t lcob, rcob;
uint8_t lidx, ridx;
- /* ignore when strat is not running */
- if (strat_running == 0)
- return;
-
/* read sensors from ballboard */
IRQ_LOCK(flags);
lcob = ballboard.lcob;
cobboard.cob_count = 5;
if (time_get_s() == 16)
cobboard.cob_count = 0;
- if (time_get_s() == 25)
- cobboard.cob_count = 5;
#endif
/* detect cob on left side */
}
/* control the cobboard mode for left spickle */
- if (lcob_near) {
- if (get_cob_count() >= 5 || want_pack) {
- if (strat_db.corn_table[lidx]->corn.color != I2C_COB_WHITE &&
- strat_db.corn_table[lidx]->corn.color != I2C_COB_BLACK)
- i2c_cobboard_pack(I2C_LEFT_SIDE);
+ if (lcob_near && strat_db.corn_table[lidx]->present) {
+ if (get_cob_count() >= 5 || want_pack || strat_lpack60) {
+ /* nothing */
}
else {
- if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
- i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
- else if (strat_db.corn_table[lidx]->corn.color == I2C_COB_BLACK)
- i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
+ /* deploy spickle and harvest white ones */
+ if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE) {
+ i2c_cobboard_autoharvest_nomove(I2C_LEFT_SIDE);
+ if (cobboard.status == I2C_COBBOARD_STATUS_LBUSY)
+ strat_db.corn_table[lidx]->present = 0;
+ }
else
- i2c_cobboard_deploy(I2C_LEFT_SIDE);
+ i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
}
}
else {
- if (get_cob_count() >= 5 || want_pack)
+ /* no cob near us, we can pack or deploy freely */
+ if (get_cob_count() >= 5 || want_pack || strat_lpack60)
i2c_cobboard_pack(I2C_LEFT_SIDE);
else
i2c_cobboard_deploy(I2C_LEFT_SIDE);
}
/* control the cobboard mode for right spickle */
- if (rcob_near) {
- if (get_cob_count() >= 5 || want_pack) {
- if (strat_db.corn_table[ridx]->corn.color != I2C_COB_WHITE &&
- strat_db.corn_table[ridx]->corn.color != I2C_COB_BLACK)
- i2c_cobboard_pack(I2C_RIGHT_SIDE);
+ if (rcob_near && strat_db.corn_table[ridx]->present) {
+ if (get_cob_count() >= 5 || want_pack || strat_rpack60) {
+ /* nothing */
}
else {
- if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
- i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
- else if (strat_db.corn_table[ridx]->corn.color == I2C_COB_BLACK)
- i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
+ /* deploy spickle and harvest white ones */
+ if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE) {
+ i2c_cobboard_autoharvest_nomove(I2C_RIGHT_SIDE);
+ if (cobboard.status == I2C_COBBOARD_STATUS_RBUSY)
+ strat_db.corn_table[ridx]->present = 0;
+ }
else
- i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+ i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
}
}
else {
- if (get_cob_count() >= 5 || want_pack)
+ /* no cob near us, we can pack or deploy freely */
+ if (get_cob_count() >= 5 || want_pack || strat_rpack60)
i2c_cobboard_pack(I2C_RIGHT_SIDE);
else
i2c_cobboard_deploy(I2C_RIGHT_SIDE);
}
+}
+
+/* called periodically (10ms) */
+void strat_event(void *dummy)
+{
+ /* ignore when strat is not running */
+ if (strat_running == 0)
+ return;
+ check_tomato();
+ check_corn();
/* limit speed when opponent is near */
- strat_limit_speed();
+ //strat_limit_speed();
}
return 0;
}
+/* must be called from a terminal line */
static uint8_t strat_eject(void)
{
uint8_t err;
-
//XXX return vals
- strat_set_speed(600, SPEED_ANGLE_SLOW);
- want_pack = 1;
+ /* go to eject point */
trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
- err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5,
+ TRAJ_FLAGS_NO_NEAR);
+ if (err == 0) {
+ want_pack = 1;
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ }
+
+ /* pack arms */
+ strat_event_disable();
+ i2c_cobboard_pack(I2C_LEFT_SIDE);
+ i2c_cobboard_pack(I2C_RIGHT_SIDE);
/* ball ejection */
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
strat_hardstop();
+#ifdef HOST_VERSION
time_wait_ms(2000);
-
+#else
+ WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
+ 2000);
+ WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
+ 2000);
+#endif
/* half turn */
- strat_event_disable();
- i2c_cobboard_pack(I2C_LEFT_SIDE);
- i2c_cobboard_pack(I2C_RIGHT_SIDE);
trajectory_a_rel(&mainboard.traj, COLOR_A(180));
err = wait_traj_end(END_INTR|END_TRAJ);
uint8_t err;
strat_set_acc(ACC_DIST, ACC_ANGLE);
-#ifdef HOST_VERSION
- strat_set_speed(600, SPEED_ANGLE_FAST);
-#else
- /* 250 */
- strat_set_speed(250, SPEED_ANGLE_FAST);
-#endif
-
- // strat_set_speed(600, 60); /* OK */
- strat_set_speed(250, 28); /* OK */
+ strat_set_speed(600, 60); /* OK */
+ //strat_set_speed(250, 28); /* OK */
trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
TRAJ_FLAGS_STD);
strat_set_acc(ACC_DIST, ACC_ANGLE);
- strat_set_speed(250, SPEED_ANGLE_SLOW);
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
-#if 1
l1:
DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-
- err = line2line(0, LINE_UP, 2, LINE_R_DOWN);
+ err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err)) {
strat_hardstop();
time_wait_ms(2000);
l2:
DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-
- err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP);
+ err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err)) {
strat_hardstop();
time_wait_ms(2000);
goto l2;
}
-#else
-/* strat_set_speed(600, SPEED_ANGLE_FAST); */
-/* err = line2line(0, LINE_UP, 3, LINE_R_DOWN); */
-/* err = line2line(3, LINE_R_DOWN, 2, LINE_R_UP); */
-/* err = line2line(2, LINE_R_UP, 2, LINE_R_DOWN); */
-/* err = line2line(2, LINE_R_DOWN, 3, LINE_R_UP); */
-/* err = line2line(3, LINE_R_UP, 5, LINE_UP); */
-/* err = line2line(5, LINE_UP, 2, LINE_L_DOWN); */
-/* err = line2line(2, LINE_L_DOWN, 1, LINE_L_UP); */
-/* err = line2line(1, LINE_L_UP, 1, LINE_L_DOWN); */
-/* err = line2line(1, LINE_L_DOWN, 0, LINE_DOWN); */
-
- strat_set_speed(300, SPEED_ANGLE_FAST);
- err = line2line(0, LINE_UP, 0, LINE_R_UP);
- err = line2line(0, LINE_R_UP, 1, LINE_DOWN);
- err = line2line(1, LINE_DOWN, 1, LINE_L_DOWN);
- err = line2line(1, LINE_L_DOWN, 0, LINE_DOWN);
- wait_ms(500);
- strat_hardstop();
- return END_TRAJ;
-#endif
-
strat_eject();
- strat_set_speed(250, SPEED_ANGLE_FAST);
-
-#if 0
- l4:
- DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-
- err = line2line(5, LINE_DOWN, 2, LINE_L_UP);
- if (!TRAJ_SUCCESS(err)) {
- strat_hardstop();
- time_wait_ms(2000);
- goto l4;
- }
-
- l5:
- DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-
- err = line2line(2, LINE_L_UP, 2, LINE_R_UP);
- if (!TRAJ_SUCCESS(err)) {
- strat_hardstop();
- time_wait_ms(2000);
- goto l5;
+ while (1) {
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+ strat_harvest_circuit();
+ strat_eject();
}
- DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-#else
- strat_harvest_circuit();
-#endif
-
- WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
- TRAJ_FLAGS_STD);
- strat_eject();
-
return END_TRAJ;
}
git.droids-corp.org / aversive.git / blobdiff