#include "../common/i2c_commands.h"
#include "i2c_protocol.h"
#include "main.h"
+#include "cs.h"
#include "strat.h"
#include "strat_db.h"
#include "strat_base.h"
volatile uint8_t strat_want_pack = 0;
volatile uint8_t strat_lpack60 = 0;
volatile uint8_t strat_rpack60 = 0;
+
+volatile uint8_t strat_opponent_lpack = 0;
+volatile uint8_t strat_opponent_rpack = 0;
+
struct strat_conf strat_conf = {
.dump_enabled = 0,
.opp_orange = 90,
uint8_t k;
for (k = 0; k < TOMATO_NB; k++) {
- if (strat_db.tomato_table[k]->time_removed != -1 &&
- strat_db.tomato_table[k]->time_removed + 2 == time_get_s()) {
+ if (strat_db.tomato_table[k]->present == 1 &&
+ strat_db.tomato_table[k]->time_removed != -1 &&
+ strat_db.tomato_table[k]->time_removed + 2 <= time_get_s()) {
#ifdef HOST_VERSION
printf("remove tomato %d\n", k);
#endif
uint8_t lidx, ridx;
static uint8_t prev_check_time;
uint8_t cur_time;
+ uint8_t need_lpack, need_rpack;
/* read sensors from ballboard */
IRQ_LOCK(flags);
uint8_t i;
for (i = 0; i < CORN_NB; i++) {
- if (strat_db.corn_table[i]->time_removed != -1 &&
- strat_db.corn_table[i]->time_removed + 2 == time_get_s()) {
+ if (strat_db.corn_table[i]->present == 1 &&
+ strat_db.corn_table[i]->time_removed != -1 &&
+ strat_db.corn_table[i]->time_removed + 2 <= time_get_s()) {
#ifdef HOST_VERSION
printf("remove cob %d\n", i);
#endif
}
/* control the cobboard mode for left spickle */
+ need_lpack = get_cob_count() >= 5 || strat_want_pack ||
+ strat_lpack60 || strat_opponent_lpack;
if (lcob_near && strat_db.corn_table[lidx]->present) {
- if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60) {
+ if (need_lpack) {
/* nothing */
}
else {
}
else {
/* no cob near us, we can pack or deploy freely */
- if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60)
+ if (need_lpack)
i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
else
i2c_cobboard_deploy(I2C_LEFT_SIDE);
}
/* control the cobboard mode for right spickle */
+ need_rpack = get_cob_count() >= 5 || strat_want_pack ||
+ strat_rpack60 || strat_opponent_rpack;
if (rcob_near && strat_db.corn_table[ridx]->present) {
- if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60) {
+ if (need_rpack) {
/* nothing */
}
else {
}
else {
/* no cob near us, we can pack or deploy freely */
- if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60)
+ if (need_rpack)
i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
else
i2c_cobboard_deploy(I2C_RIGHT_SIDE);
}
}
+/* check opponent position */
+void check_opponent(void)
+{
+ int16_t opp_x, opp_y;
+ int16_t opp_d, opp_a;
+ uint8_t i, j;
+
+ strat_opponent_lpack = 0;
+ strat_opponent_rpack = 0;
+
+ if (get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a) < 0)
+ return;
+
+ /* pack spickles if opponent too close */
+ if (opp_d < 600) {
+ if (opp_a > 45 && opp_a < 135)
+ strat_opponent_lpack = 1;
+ if (opp_a > 225 && opp_a < 315)
+ strat_opponent_rpack = 1;
+ }
+
+ /* check for oranges after 5 seconds */
+ if (time_get_s() > 5) {
+ if (mainboard.our_color == I2C_COLOR_YELLOW) {
+ if (opp_y < 500 && opp_x < 500)
+ strat_db.our_oranges_count = 0;
+ if (opp_y < 500 && opp_x > AREA_X - 500)
+ strat_db.opp_oranges_count = 0;
+ }
+ else {
+ if (opp_y > AREA_Y - 500 && opp_x < 500)
+ strat_db.our_oranges_count = 0;
+ if (opp_y > AREA_Y - 500 && opp_x > AREA_X - 500)
+ strat_db.opp_oranges_count = 0;
+ }
+ }
+
+ /* malus for some tomatoes and cobs, visited by opponent */
+ if (xycoord_to_ijcoord(&opp_x, &opp_y, &i, &j) < 0)
+ return;
+
+ strat_db.wp_table[i][j].opp_visited = 1;
+}
+
/* called periodically (10ms) */
void strat_event(void *dummy)
{
if (strat_running == 0)
return;
+ check_opponent();
check_tomato();
check_corn();
x = position_get_x_s16(&mainboard.pos);
y = position_get_y_s16(&mainboard.pos);
- if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
return 0;
if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
return 0; /* fast */
}
- if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0) {
DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
__FUNCTION__, x, y);
return 1; /* slow */
}
/* go to eject point */
- trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+ trajectory_goto_forward_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
err = WAIT_COND_OR_TRAJ_END(speedify_eject(),
TRAJ_FLAGS_NO_NEAR);
/* err is never == 0 because speedify_eject() always return 0 */
}
#endif
+/* get tomatoes near our goals (12,5 and 12,3) */
+uint8_t get_opp_oranges(void)
+{
+ int16_t x, y;
+ uint8_t i, j;
+ uint8_t err;
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ /* only if oranges are present */
+ if (strat_db.opp_oranges_count == 0)
+ return END_TRAJ;
+
+ strat_db.opp_oranges_count = 0;
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
+
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
+ return END_ERROR;
+
+ /* not on eject point */
+ if (i != 11 || j != 6)
+ return END_ERROR;
+
+ strat_want_pack = 1;
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
+ /* turn in the correct direction */
+ trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ trajectory_goto_forward_xy_abs(&mainboard.traj, 2625, COLOR_Y(597));
+ err = wait_traj_end(TRAJ_FLAGS_STD);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
+ trajectory_goto_forward_xy_abs(&mainboard.traj, 2750, COLOR_Y(250));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ err = run_to_the_hills(get_opponent_color());
+
+ fail:
+ strat_want_pack = 0;
+ return err;
+}
+
/* get tomatoes near our goals (12,5 and 12,3) */
uint8_t get_orphan_tomatoes(void)
{
x = position_get_x_s16(&mainboard.pos);
y = position_get_y_s16(&mainboard.pos);
- if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
return END_ERROR;
/* not on eject point */
trajectory_d_rel(&mainboard.traj, -250);
err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
TRAJ_FLAGS_NO_NEAR);
-#ifdef HOST_VERSION /* simulator sees 2 blockings */
- if (err == END_BLOCKING) {
- trajectory_d_rel(&mainboard.traj, -250);
- err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
- TRAJ_FLAGS_NO_NEAR);
- }
-#endif
if (err != 0 && !TRAJ_SUCCESS(err))
goto fail;
return err;
}
-/* get oranges, must be called near game area */
-uint8_t run_to_the_hills(uint8_t orange_color)
-{
-#define HILL_LEN 500
-#define HILL_POSY_YELLOW 300
-#define HILL_POSY_BLUE 200
-#define HILL_POSX_BALLS_DOWN 900
-#define HILL_START_POSX 580
- double aa, ad;
- uint16_t sa, sd;
- uint8_t err;
- uint8_t our_color = get_color();
- int16_t startx, starty;
+#define HILL_LEN 1000
- strat_want_pack = 1;
- strat_get_acc(&ad, &aa);
- strat_get_speed(&sd, &sa);
+#define HILL_ANGLE 0
+#define HILL_POSY_YELLOW 310
+#define HILL_POSY_BLUE 190
- DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+#define HILL_POSX_BALLS_DOWN1 830
+#define HILL_POSX_BALLS_DOWN2 920
+#define HILL_POSX_BALLS_DOWN3 730
+#define HILL_START_POSX 580
+
+uint8_t prepare_hill(uint8_t orange_color, int16_t posx)
+{
+ int16_t startx, starty;
+ uint8_t our_color = get_color();
+ uint8_t err;
- strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
if (orange_color == I2C_COLOR_YELLOW)
starty = HILL_POSY_YELLOW;
else
starty = HILL_POSY_BLUE;
if (orange_color == our_color)
- startx = HILL_START_POSX;
+ startx = posx;
else
- startx = AREA_X - HILL_START_POSX;
- trajectory_goto_xy_abs(&mainboard.traj, startx, COLOR_Y(starty));
+ startx = AREA_X - posx;
+ trajectory_goto_forward_xy_abs(&mainboard.traj, startx, COLOR_Y(starty));
err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (!TRAJ_SUCCESS(err))
+ return err;
/* turn to the hills */
if (orange_color == our_color)
- trajectory_a_abs(&mainboard.traj, COLOR_A(0));
+ trajectory_a_abs(&mainboard.traj, COLOR_A(HILL_ANGLE));
else
- trajectory_a_abs(&mainboard.traj, COLOR_A(180));
+ trajectory_a_abs(&mainboard.traj, COLOR_A(-180+HILL_ANGLE));
err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (!TRAJ_SUCCESS(err))
+ return err;
- strat_set_acc(3, 3);
- strat_set_speed(300, 500);
- bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 2000000, 40);
+ return END_TRAJ;
+}
+
+/* get oranges, must be called near game area */
+uint8_t run_to_the_hills(uint8_t orange_color)
+{
+ double aa, ad;
+ uint16_t sa, sd;
+ uint8_t err;
+ uint8_t our_color = get_color();
+ int32_t p = pid_get_gain_P(&mainboard.angle.pid);
+ int32_t i = pid_get_gain_I(&mainboard.angle.pid);
+ int32_t d = pid_get_gain_D(&mainboard.angle.pid);
+ int32_t max_in = pid_get_max_in(&mainboard.angle.pid);
+ int32_t max_i = pid_get_max_I(&mainboard.angle.pid);
+ int32_t max_out = pid_get_max_out(&mainboard.angle.pid);
+
+ strat_want_pack = 1;
+ strat_get_acc(&ad, &aa);
+ strat_get_speed(&sd, &sa);
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+ err = prepare_hill(orange_color, HILL_START_POSX);
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ strat_set_acc(5, ACC_ANGLE);
+ strat_set_speed(300, SPEED_ANGLE_SLOW);
+ bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 2000000, 80);
+ bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 2000000, 80);
+ bd_set_speed_threshold(&mainboard.distance.bd, 10);
support_balls_pack();
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
+
+ /* decrease angle gains */
+ pid_set_gains(&mainboard.angle.pid, 200, 0, 2000);
/* here it is difficult to handle return values, because we
* are on the hill */
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
trajectory_d_rel(&mainboard.traj, HILL_LEN);
- err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) > HILL_POSX_BALLS_DOWN,
- TRAJ_FLAGS_NO_NEAR);
- printf_P(PSTR("deploy\r\n"));
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
+ HILL_POSX_BALLS_DOWN1,
+ TRAJ_FLAGS_SMALL_DIST);
+ DEBUG(E_USER_STRAT, "deploy support balls");
support_balls_deploy();
- i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND);
- err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_UP);
+ trajectory_only_a_rel(&mainboard.traj, 2);
+ err = WAIT_COND_OR_TE_TO(0, 0, 2200);
- time_wait_ms(2000);
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
+ strat_set_acc(3, 3);
+ strat_hardstop();
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
+
+ time_wait_ms(1800);
/* reach top, go down */
trajectory_d_rel(&mainboard.traj, -HILL_LEN);
- err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) < HILL_POSX_BALLS_DOWN,
- TRAJ_FLAGS_NO_NEAR);
- printf_P(PSTR("pack\r\n"));
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
+ HILL_POSX_BALLS_DOWN2,
+ TRAJ_FLAGS_SMALL_DIST);
+ DEBUG(E_USER_STRAT, "pack support balls");
support_balls_pack();
- err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
- printf_P(PSTR("deploy\r\n"));
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
+ HILL_POSX_BALLS_DOWN3,
+ TRAJ_FLAGS_SMALL_DIST);
+ DEBUG(E_USER_STRAT, "deploy support balls");
+ strat_set_acc(ad, aa);
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
support_balls_deploy();
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+
+ /* wait to be near the wall */
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) < 200,
+ TRAJ_FLAGS_SMALL_DIST);
+
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+
+ /* restore BD coefs */
+ bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
+ bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
+ bd_set_speed_threshold(&mainboard.distance.bd, 60);
/* calibrate position on the wall */
- strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
- strat_set_acc(ad, aa);
- trajectory_goto_xy_abs(&mainboard.traj, 150, COLOR_Y(starty));
- err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) < 300,
- TRAJ_FLAGS_NO_NEAR);
strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
- err = strat_calib(-300, TRAJ_FLAGS_NO_NEAR);
+ err = strat_calib(-400, TRAJ_FLAGS_SMALL_DIST);
if (orange_color == our_color)
- position_set(&mainboard.pos, ROBOT_HALF_LENGTH_REAR,
+ strat_reset_pos(ROBOT_HALF_LENGTH_REAR,
DO_NOT_SET_POS, COLOR_A(0));
else
- position_set(&mainboard.pos, AREA_X - ROBOT_HALF_LENGTH_REAR,
+ strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_REAR,
DO_NOT_SET_POS, COLOR_A(180));
strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
- trajectory_goto_xy_abs(&mainboard.traj, 150, COLOR_Y(starty));
- err = wait_traj_end(TRAJ_FLAGS_STD);
+
+ trajectory_d_rel(&mainboard.traj, 250);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (orange_color == I2C_COLOR_YELLOW)
+ trajectory_a_rel(&mainboard.traj, 90);
+ else
+ trajectory_a_rel(&mainboard.traj, -90);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ time_wait_ms(200);
+
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
+ err = strat_calib(-400, TRAJ_FLAGS_SMALL_DIST);
+ strat_reset_pos(DO_NOT_SET_POS,
+ COLOR_Y(ROBOT_HALF_LENGTH_REAR),
+ COLOR_A(90));
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
+ trajectory_d_rel(&mainboard.traj, 250);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
/* revert acceleration and speed */
- i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ pid_set_gains(&mainboard.angle.pid, p, i, d);
+ pid_set_maximums(&mainboard.distance.pid, max_in, max_i, max_out);
strat_want_pack = 0;
strat_set_speed(sd, sa);
- bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
support_balls_deploy();
return err;
}
/* get oranges */
if (strat_conf.flags & STRAT_CONF_OUR_ORANGE) {
err = run_to_the_hills(get_color());
+ strat_db.our_oranges_count = 0;
do_initturn = 0;
}
}
}
+ /* if it's time to get opponent oranges, do it */
+ if (time_get_s() > strat_conf.opp_orange) {
+ err = get_opp_oranges();
+ if (err == END_ERROR) {
+ DEBUG(E_USER_STRAT,
+ "get_opp_oranges returned END_ERROR");
+ }
+ else if (err == END_TIMER) {
+ DEBUG(E_USER_STRAT, "End of time");
+ strat_exit();
+ break;
+ }
+ else if (!TRAJ_SUCCESS(err)) {
+ /* don't retry oranges if it failed */
+ strat_conf.opp_orange = 90;
+ strat_unblock();
+ }
+ }
+
/**********************/
/* harvest on circuit */
/**********************/
git.droids-corp.org / aversive.git / blobdiff