mark tomato as taken when we go on it

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index ced55e3..0405844 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -155,18 +155,33 @@ void strat_exit(void)
 #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;
@@ -255,9 +270,19 @@ void strat_event(void *dummy)
                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();
 }
 
 
@@ -294,7 +319,14 @@ static uint8_t strat_eject(void)
 
        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 */
        trajectory_a_rel(&mainboard.traj, COLOR_A(180));