-/*
+/*
* Copyright Droids, Microb Technology (2009)
- *
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
*
* Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
*
- * Olivier MATZ <zer0@droids-corp.org>
+ * Olivier MATZ <zer0@droids-corp.org>
*/
#include <stdio.h>
#include <ax12.h>
#include <uart.h>
#include <pwm_ng.h>
-#include <time.h>
+#include <clock_time.h>
#include <spi.h>
#include <pid.h>
#include <quadramp.h>
#include <control_system_manager.h>
#include <trajectory_manager.h>
+#include <trajectory_manager_utils.h>
+#include <trajectory_manager_core.h>
#include <vect_base.h>
#include <lines.h>
#include <polygon.h>
#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"
+#include "strat_corn.h"
#include "strat_utils.h"
+#include "strat_avoid.h"
#include "sensor.h"
#include "actuator.h"
#define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
#define COL_SCAN_PRE_MARGIN 250
+static volatile uint8_t strat_running = 0;
+volatile uint8_t strat_want_pack = 0;
+volatile uint8_t strat_lpack60 = 0;
+volatile uint8_t strat_rpack60 = 0;
-#ifdef TEST_BEACON
+volatile uint8_t strat_opponent_lpack = 0;
+volatile uint8_t strat_opponent_rpack = 0;
-#define BEACON_MAX_SAMPLES 100
-struct beacon_sample {
- int16_t posx;
- int16_t posy;
- int16_t posa;
- int16_t oppx;
- int16_t oppy;
- uint8_t time;
+struct strat_conf strat_conf = {
+ .dump_enabled = 0,
+ .opp_orange = 90,
+ .orphan_tomato = 50,
+ .flags = 0,
};
-static struct beacon_sample beacon_sample[BEACON_MAX_SAMPLES];
-static uint8_t beacon_prev_time = 0;
-static uint8_t beacon_cur_idx = 0;
+/*************************************************************/
+
+/* INIT */
+
+/*************************************************************/
-static void beacon_update_samples(void)
+/* called before each strat, and before the start switch */
+void strat_preinit(void)
{
- int16_t opp_a, opp_d, opp_x, opp_y;
- int8_t err;
- uint8_t time;
+ time_reset();
+ interrupt_traj_reset();
+ mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
+ DO_POS | DO_BD | DO_POWER;
- time = time_get_s();
+ strat_db_init();
+ strat_conf_dump(__FUNCTION__);
+ strat_db_dump(__FUNCTION__);
+}
- /* one sample per second max */
- if (time <= beacon_prev_time)
- return;
- /* limit max number of samples */
- if (beacon_cur_idx >= BEACON_MAX_SAMPLES)
+void strat_conf_dump(const char *caller)
+{
+ if (!strat_conf.dump_enabled)
return;
- memset(&beacon_sample[beacon_cur_idx], 0, sizeof(beacon_sample[beacon_cur_idx]));
- beacon_prev_time = time;
- beacon_sample[beacon_cur_idx].time = time;
-
- /* get opponent pos; if not found, just set struct to 0 */
- err = get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a);
- if (err == -1)
- return;
+ printf_P(PSTR("-- conf --\r\n"));
+ printf_P(PSTR("opp_orange = %d\n"), strat_conf.opp_orange);
+ printf_P(PSTR("orphan_tomato = %d\n"), strat_conf.orphan_tomato);
+ printf_P(PSTR("our_orange = %s\n"),
+ (strat_conf.flags & STRAT_CONF_OUR_ORANGE) ? "y":"n");
+}
- beacon_sample[beacon_cur_idx].posx = position_get_x_s16(&mainboard.pos);
- beacon_sample[beacon_cur_idx].posy = position_get_y_s16(&mainboard.pos);
- beacon_sample[beacon_cur_idx].posa = position_get_a_deg_s16(&mainboard.pos);
- beacon_sample[beacon_cur_idx].oppx = opp_x;
- beacon_sample[beacon_cur_idx].oppy = opp_y;
- beacon_cur_idx++;
+void strat_event_enable(void)
+{
+ strat_running = 1;
}
-void beacon_dump_samples(void)
+void strat_event_disable(void)
{
- uint16_t i;
-
- for (i=0; i<BEACON_MAX_SAMPLES; i++) {
- printf_P(PSTR("%d: pos=(%d,%d,%d) opp=(%d,%d) time=%d\r\n"),
- i,
- beacon_sample[i].posx,
- beacon_sample[i].posy,
- beacon_sample[i].posa,
- beacon_sample[i].oppx,
- beacon_sample[i].oppy,
- beacon_sample[i].time);
- }
+ strat_running = 0;
}
-#endif
-struct strat_infos strat_infos = {
- /* conf */
- .conf = {
- .flags = 0,
- /* scanner disabled by default */
- .scan_opp_min_time = 90,
- .delay_between_opp_scan = 90,
- .scan_our_min_time = 90,
- .delay_between_our_scan = 90,
- .wait_opponent = 0,
- .lintel_min_time = 0,
- .scan_opp_angle = -1,
- },
-
- /* static columns */
- .s_cols = {
- .flags = 0,
- .configuration = 0,
- },
-
- /* column dispensers ; be carreful, positions are
- * color-dependent, so COLOR_Y() and COLOR_A() should be
- * used. All angles here are _absolute_ */
- .c1 = {
- .checkpoint_x = 2711 - COL_SCAN_PRE_MARGIN,
- .checkpoint_y = AREA_Y - COL_DISP_MARGIN,
- .scan_left = 0,
- .scan_a = 180,
- .eject_a = 180,
- .recalib_x = 2711,
- .recalib_y = AREA_Y - (ROBOT_LENGTH/2 + DIST_BACK_DISPENSER),
- .pickup_a = 90,
- .name = "col_disp1",
- },
- .c2 = {
- .checkpoint_x = AREA_X - COL_DISP_MARGIN,
- .checkpoint_y = 800 - COL_SCAN_PRE_MARGIN,
- .scan_left = 1,
- .scan_a = -90,
- .eject_a = -90,
- .recalib_x = AREA_X - (ROBOT_LENGTH/2 + DIST_BACK_DISPENSER),
- .recalib_y = 800,
- .pickup_a = 0,
- .name = "col_disp2",
- },
- .c3 = {
- .checkpoint_x = AREA_X-COL_DISP_MARGIN,
- .checkpoint_y = 1300 + COL_SCAN_PRE_MARGIN,
- .scan_a = 90,
- .scan_left = 0,
- .eject_a = -90,
- .recalib_x = AREA_X - (ROBOT_LENGTH/2 + DIST_BACK_DISPENSER),
- .recalib_y = 1300,
- .pickup_a = 0,
- .name = "col_disp3",
- },
-
- /* lintel dispensers */
- .l1 = {
- .x = 912, /* XXX for red only */
- .name = "lin_disp1",
- },
- .l2 = {
- .x = 1312, /* XXX for red only */
- .name = "lin_disp2",
- },
-
- /* build zones */
- .zone_list = {
-#define ZONE_DISC_NUM 0
- {
- .flags = ZONE_F_VALID | ZONE_F_DISC,
- .level = 2,
- .checkpoint_x = 0,
- .checkpoint_x = 0,
- .name = "disc",
- },
-#define ZONE_1A_NUM 1
- {
- .flags = ZONE_F_VALID,
- .level = 1,
- .checkpoint_x = 1385,
- .checkpoint_y = 1700,
- .name = "z1a",
- },
-#define ZONE_1B_NUM 2
- {
- .flags = ZONE_F_VALID,
- .level = 1,
- .checkpoint_x = 1615,
- .checkpoint_y = 1700,
- .name = "z1b",
- },
-#define ZONE_0B_NUM 3
- {
- .flags = ZONE_F_VALID,
- .level = 0,
- .checkpoint_x = 2100,
- .checkpoint_y = 1700,
- .name = "z0b",
- },
-#define ZONE_0A_NUM 4
- {
- .flags = ZONE_F_VALID,
- .level = 0,
- .checkpoint_x = 900,
- .checkpoint_y = 1700,
- .name = "z0a",
- },
- }
-};
+/* call it just before launching the strat */
+void strat_init(void)
+{
+#ifdef HOST_VERSION
+ position_set(&mainboard.pos, 298.16,
+ COLOR_Y(308.78), COLOR_A(70.00));
+#endif
-/*************************************************************/
+ /* we consider that the color is correctly set */
+ strat_running = 1;
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+ time_reset();
+ interrupt_traj_reset();
-/* INIT */
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
-/*************************************************************/
+ /* used in strat_base for END_TIMER */
+ mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
+ DO_POS | DO_BD | DO_TIMER | DO_POWER;
+}
-void strat_set_bounding_box(void)
+/* call it after each strat */
+void strat_exit(void)
{
- if (get_color() == I2C_COLOR_RED) {
- strat_infos.area_bbox.x1 = 300;
- strat_infos.area_bbox.y1 = 200;
- strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
- strat_infos.area_bbox.y2 = 1800;
- }
- else {
- strat_infos.area_bbox.x1 = 200;
- strat_infos.area_bbox.y1 = 300;
- strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
- strat_infos.area_bbox.y2 = 1900;
- }
+#ifndef HOST_VERSION
+ uint8_t flags;
+#endif
- polygon_set_boundingbox(strat_infos.area_bbox.x1,
- strat_infos.area_bbox.y1,
- strat_infos.area_bbox.x2,
- strat_infos.area_bbox.y2);
+ strat_running = 0;
+ mainboard.flags &= ~(DO_TIMER);
+ strat_hardstop();
+ time_reset();
+ wait_ms(100);
+#ifndef HOST_VERSION
+ IRQ_LOCK(flags);
+ mainboard.flags &= ~(DO_CS);
+ IRQ_UNLOCK(flags);
+ pwm_ng_set(LEFT_PWM, 0);
+ pwm_ng_set(RIGHT_PWM, 0);
+#endif
}
-/* called before each strat, and before the start switch */
-void strat_preinit(void)
+/* mark tomato as not present */
+static void check_tomato(void)
{
- time_reset();
- interrupt_traj_reset();
- mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
- DO_POS | DO_BD | DO_POWER;
+ int16_t x, y;
+ uint8_t i, j;
+ static uint8_t prev_check_time;
+ uint8_t cur_time;
+
+ /* check present tomatoes once per second */
+ cur_time = time_get_s();
+ if (cur_time != prev_check_time) {
+ uint8_t k;
+
+ for (k = 0; k < TOMATO_NB; k++) {
+ 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
+ strat_db.tomato_table[k]->present = 0;
+ }
+ }
+ prev_check_time = cur_time;
+ }
- i2c_mechboard_mode_init();
- if (get_color() == I2C_COLOR_RED)
- i2c_mechboard_mode_prepare_pickup(I2C_LEFT_SIDE);
- else
- i2c_mechboard_mode_prepare_pickup(I2C_RIGHT_SIDE);
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
- strat_dump_conf();
- strat_dump_infos(__FUNCTION__);
-}
+ if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+ return;
-void strat_dump_conf(void)
-{
- if (!strat_infos.dump_enabled)
+ if (strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
return;
- printf_P(PSTR("-- conf --\r\n"));
+ if (strat_db.wp_table[i][j].present == 0)
+ return;
- printf_P(PSTR(" one build on disc: "));
- if (strat_infos.conf.flags & STRAT_CONF_ONLY_ONE_ON_DISC)
- printf_P(PSTR("on\r\n"));
- else
- printf_P(PSTR("off\r\n"));
+ strat_db.wp_table[i][j].time_removed = time_get_s();
+ strat_db.wp_table[i][j].present = 0;
+#ifdef HOST_VERSION
+ ballboard.ball_count ++;
+ printf("add ball %d,%d\n", i, j);
+#endif
+}
- printf_P(PSTR(" bypass static2: "));
- if (strat_infos.conf.flags & STRAT_CONF_BYPASS_STATIC2)
- printf_P(PSTR("on\r\n"));
- else
- printf_P(PSTR("off\r\n"));
+/* 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;
+ static uint8_t prev_check_time;
+ uint8_t cur_time;
+ uint8_t need_lpack, need_rpack;
+
+ /* read sensors from ballboard */
+ IRQ_LOCK(flags);
+ lcob = ballboard.lcob;
+ ballboard.lcob = I2C_COB_NONE;
+ rcob = ballboard.rcob;
+ ballboard.rcob = I2C_COB_NONE;
+ IRQ_UNLOCK(flags);
- printf_P(PSTR(" take one lintel: "));
- if (strat_infos.conf.flags & STRAT_CONF_TAKE_ONE_LINTEL)
- printf_P(PSTR("on\r\n"));
- else
- printf_P(PSTR("off\r\n"));
+ /* XXX take opponent position into account */
- printf_P(PSTR(" skip this temple when temple check fails: "));
- if (strat_infos.conf.flags & STRAT_CONF_SKIP_WHEN_CHECK_FAILS)
- printf_P(PSTR("on\r\n"));
- else
- printf_P(PSTR("off\r\n"));
+ /* check present cobs once per second */
+ cur_time = time_get_s();
+ if (cur_time != prev_check_time) {
+ uint8_t i;
- printf_P(PSTR(" store static2: "));
- if (strat_infos.conf.flags & STRAT_CONF_STORE_STATIC2)
- printf_P(PSTR("on\r\n"));
- else
- printf_P(PSTR("off\r\n"));
+ for (i = 0; i < CORN_NB; i++) {
+ 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
+ strat_db.corn_table[i]->present = 0;
+ }
+ }
+ prev_check_time = cur_time;
+ }
- printf_P(PSTR(" (big3) try to build a temple with 3 lintels: "));
- if (strat_infos.conf.flags & STRAT_CONF_BIG_3_TEMPLE)
- printf_P(PSTR("on\r\n"));
- else
- printf_P(PSTR("off\r\n"));
+ /* detect cob on left side */
+ lcob_near = corn_is_near(&lidx, I2C_LEFT_SIDE);
+ if (lcob_near && lcob != I2C_COB_NONE) {
+ if (strat_db.corn_table[lidx]->corn.color == I2C_COB_UNKNOWN)
+ DEBUG(E_USER_STRAT, "lcob %s %d",
+ lcob == I2C_COB_WHITE ? "white" : "black", lidx);
+ corn_set_color(strat_db.corn_table[lidx], lcob);
+ }
- printf_P(PSTR(" early opponent scan: "));
- if (strat_infos.conf.flags & STRAT_CONF_EARLY_SCAN)
- printf_P(PSTR("on\r\n"));
- else
- printf_P(PSTR("off\r\n"));
+ /* detect cob on right side */
+ rcob_near = corn_is_near(&ridx, I2C_RIGHT_SIDE);
+ if (rcob_near && rcob != I2C_COB_NONE) {
+ if (strat_db.corn_table[ridx]->corn.color == I2C_COB_UNKNOWN)
+ DEBUG(E_USER_STRAT, "rcob %s %d",
+ rcob == I2C_COB_WHITE ? "white" : "black", ridx);
+ corn_set_color(strat_db.corn_table[ridx], rcob);
+ }
- printf_P(PSTR(" push opponent columns: "));
- if (strat_infos.conf.flags & STRAT_CONF_PUSH_OPP_COLS)
- printf_P(PSTR("on\r\n"));
- else
- printf_P(PSTR("off\r\n"));
-
- printf_P(PSTR(" scan opponent min time: %d\r\n"),
- strat_infos.conf.scan_opp_min_time);
- printf_P(PSTR(" delay between oppnent scan: %d\r\n"),
- strat_infos.conf.delay_between_opp_scan);
- printf_P(PSTR(" scan our min time: %d\r\n"),
- strat_infos.conf.scan_our_min_time);
- printf_P(PSTR(" delay between our scan: %d\r\n"),
- strat_infos.conf.delay_between_our_scan);
- printf_P(PSTR(" wait opponent gone before scan: %d\r\n"),
- strat_infos.conf.wait_opponent);
- printf_P(PSTR(" lintel min time: %d\r\n"),
- strat_infos.conf.lintel_min_time);
- printf_P(PSTR(" scan_opp_angle: %d\r\n"),
- strat_infos.conf.scan_opp_angle);
+ /* 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 (need_lpack) {
+ /* nothing */
+ }
+ else {
+ /* 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 (strat_db.corn_table[lidx]->time_removed == -1
+#ifndef HOST_VERSION
+ && cobboard.status == I2C_COBBOARD_STATUS_LBUSY
+#endif
+ ) {
+ strat_db.corn_table[lidx]->time_removed = time_get_s();
+#ifdef HOST_VERSION
+ cobboard.cob_count ++;
+ printf("add cob %d\n", lidx);
+#endif
+ }
+ }
+ else
+ i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
+ }
+ }
+ else {
+ /* no cob near us, we can pack or deploy freely */
+ 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 (need_rpack) {
+ /* nothing */
+ }
+ else {
+ /* 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 (strat_db.corn_table[ridx]->time_removed == -1
+#ifndef HOST_VERSION
+ && cobboard.status == I2C_COBBOARD_STATUS_RBUSY
+#endif
+ ) {
+ strat_db.corn_table[ridx]->time_removed = time_get_s();
+#ifdef HOST_VERSION
+ cobboard.cob_count ++;
+ printf("add cob %d\n", ridx);
+#endif
+ }
+ }
+ else
+ i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
+ }
+ }
+ else {
+ /* no cob near us, we can pack or deploy freely */
+ if (need_rpack)
+ i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
+ else
+ i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+ }
}
-void strat_dump_temple(struct temple *temple)
+/* check opponent position */
+void check_opponent(void)
{
- if (!strat_infos.dump_enabled)
+ 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;
- printf_P(PSTR(" temple %p (%s): "), temple, temple->zone->name);
+ /* 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;
+ }
- if (temple->flags & TEMPLE_F_MONOCOL)
- printf_P(PSTR("MONOCOL "));
- else
- printf_P(PSTR("BICOL "));
+ /* 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;
+ }
+ }
- if (temple->flags & TEMPLE_F_ON_DISC)
- printf_P(PSTR("ON_DISC "));
- else
- printf_P(PSTR("ON_ZONE_0_1 "));
-
- if (temple->flags & TEMPLE_F_OPPONENT)
- printf_P(PSTR("OPPONENT "));
- else
- printf_P(PSTR("OURS "));
+ /* malus for some tomatoes and cobs, visited by opponent */
+ if (xycoord_to_ijcoord(&opp_x, &opp_y, &i, &j) < 0)
+ return;
- if (temple->flags & TEMPLE_F_LINTEL)
- printf_P(PSTR("LIN_ON_TOP "));
- else
- printf_P(PSTR("COL_ON_TOP "));
-
- printf_P(PSTR("\r\n"));
-
- printf_P(PSTR(" pos=(%d,%d,%d) ckpt=(%d,%d) ltime=%d\r\n"),
- temple->x, temple->y, temple->a,
- temple->checkpoint_x, temple->checkpoint_y,
- temple->last_try_time);
- printf_P(PSTR(" L: lev=%d da=%d,%d\r\n"),
- temple->level_l, temple->dist_l, temple->angle_l);
- printf_P(PSTR(" R: lev=%d da=%d,%d\r\n"),
- temple->level_l, temple->dist_l, temple->angle_l);
+ strat_db.wp_table[i][j].opp_visited = 1;
}
-void strat_dump_zone(struct build_zone *zone)
+/* called periodically (10ms) */
+void strat_event(void *dummy)
{
- if (!strat_infos.dump_enabled)
+ /* ignore when strat is not running */
+ if (strat_running == 0)
return;
- printf_P(PSTR(" zone %s: "), zone->name);
-
- if (zone->flags & ZONE_F_DISC)
- printf_P(PSTR("DISC "));
- else if (zone->flags & ZONE_F_ZONE1)
- printf_P(PSTR("ZONE1 "));
- else if (zone->flags & ZONE_F_ZONE0)
- printf_P(PSTR("ZONE0 "));
+ check_opponent();
+ check_tomato();
+ check_corn();
- if (zone->flags & ZONE_F_BUSY)
- printf_P(PSTR("BUSY "));
- else
- printf_P(PSTR("FREE "));
-
- printf_P(PSTR("\r\n"));
-
- printf_P(PSTR(" lev=%d ckpt=(%d,%d) ltime=%d\r\n"),
- zone->level,
- zone->checkpoint_x, zone->checkpoint_y,
- zone->last_try_time);
+ /* limit speed when opponent is near */
+ /* disabled for 2010, we are already slow :) */
+ //strat_limit_speed();
}
-void strat_dump_static_cols(void)
+/* check that we are on an eject line */
+static uint8_t robot_is_on_eject_line(void)
{
- if (!strat_infos.dump_enabled)
- return;
+ int16_t x, y;
+ uint8_t i, j;
- printf_P(PSTR(" static cols: l0=%d l1=%d l2=%d\r\n"),
- strat_infos.s_cols.flags & STATIC_COL_LINE0_DONE,
- strat_infos.s_cols.flags & STATIC_COL_LINE1_DONE,
- strat_infos.s_cols.flags & STATIC_COL_LINE2_DONE);
+ 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 0;
+
+ if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
+ !wp_belongs_to_line(i, j, 2, LINE_R_UP))
+ return 0;
+
+ return 1;
}
-void strat_dump_col_disp(void)
+/* 0 = fast, 1 = slow */
+static uint8_t eject_select_speed(void)
{
- if (!strat_infos.dump_enabled)
- return;
+ int16_t x, y;
+ uint8_t i, j;
- printf_P(PSTR(" c1 cnt=%d ltt=%d\r\n"),
- strat_infos.c1.count, strat_infos.c1.last_try_time);
- printf_P(PSTR(" c2 cnt=%d ltt=%d\r\n"),
- strat_infos.c2.count, strat_infos.c2.last_try_time);
- printf_P(PSTR(" c3 cnt=%d ltt=%d\r\n"),
- strat_infos.c3.count, strat_infos.c3.last_try_time);
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
+
+ if (get_cob_count() >= 5) {
+ strat_want_pack = 1;
+ return 0; /* fast */
+ }
+
+ 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 */
+ }
+
+ if (corn_count_neigh(i, j) == 2)
+ return 1; /* slow */
+
+ return 0; /* fast */
}
-void strat_dump_lin_disp(void)
+/* called multiple times while we are waiting to reach the ejection
+ * point */
+static uint8_t speedify_eject(void)
{
- if (!strat_infos.dump_enabled)
- return;
- printf_P(PSTR(" l1 cnt=%d ltt=%d\r\n"),
- strat_infos.l1.count, strat_infos.l1.last_try_time);
- printf_P(PSTR(" l2 cnt=%d ltt=%d\r\n"),
- strat_infos.l2.count, strat_infos.l2.last_try_time);
-
+ if (eject_select_speed())
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+ else
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
+ return 0;
}
-void strat_dump_all_temples(void)
+/* must be called from a terminal line */
+static uint8_t strat_eject(void)
{
- struct temple *temple;
- uint8_t i;
+ uint8_t err;
- if (!strat_infos.dump_enabled)
- return;
+ DEBUG(E_USER_STRAT, "%s() cob_count=%d ball_count=%d",
+ __FUNCTION__, get_cob_count(), get_ball_count());
- for (i=0; i<MAX_TEMPLE; i++) {
- temple = &strat_infos.temple_list[i];
- if (!(temple->flags & TEMPLE_F_VALID))
- continue;
- strat_dump_temple(temple);
+ /* check that we are called from an eject line */
+ if (!robot_is_on_eject_line()) {
+ DEBUG(E_USER_STRAT, "%s() not on eject line", __FUNCTION__);
+ return END_ERROR;
}
-}
-void strat_dump_all_zones(void)
-{
- struct build_zone *zone;
- uint8_t i;
+ /* go to eject point */
+ 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 */
+ if (!TRAJ_SUCCESS(err))
+ return err;
- if (!strat_infos.dump_enabled)
- return;
+ /* pack arms (force), and disable strat_event */
+ strat_event_disable();
+ i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
+ i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
+
+ /* ball ejection */
+ if (get_ball_count() > 0) {
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+ trajectory_a_abs(&mainboard.traj, COLOR_A(70));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ 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
+ }
- for (i=0; i<MAX_ZONE; i++) {
- zone = &strat_infos.zone_list[i];
- if (!(zone->flags & ZONE_F_VALID))
- continue;
- strat_dump_zone(zone);
+ /* half turn */
+ trajectory_a_abs(&mainboard.traj, COLOR_A(-110));
+ err = wait_traj_end(END_INTR|END_TRAJ);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ /* cob ejection */
+ trajectory_d_rel(&mainboard.traj, -70);
+ err = wait_traj_end(END_INTR|END_TRAJ);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ if (get_cob_count() > 0) {
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+ time_wait_ms(2000);
}
+
+ /* cob ejection */
+ trajectory_d_rel(&mainboard.traj, 70);
+ err = wait_traj_end(END_INTR|END_TRAJ);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ strat_db_dump(__FUNCTION__);
+ err = END_TRAJ;
+
+ fail:
+ strat_event_enable();
+ strat_want_pack = 0;
+ return err;
}
-/* display current information about the state of the game */
-void strat_dump_infos(const char *caller)
+static uint8_t strat_beginning(uint8_t do_initturn)
{
- if (!strat_infos.dump_enabled)
- return;
+ uint8_t err;
+
+ strat_set_acc(ACC_DIST, ACC_ANGLE);
+
+ if (do_initturn) {
+ strat_set_speed(600, 60); /* 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(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+
+ err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err)) {
+ return err;
+ }
- printf_P(PSTR("%s() dump strat infos:\r\n"), caller);
- strat_dump_static_cols();
- strat_dump_col_disp();
- strat_dump_lin_disp();
- strat_dump_all_temples();
- strat_dump_all_zones();
+ return END_TRAJ;
}
-/* init current area state before a match. Dump update user conf
- * here */
-void strat_reset_infos(void)
+/* dump state (every 5 s max) */
+#define DUMP_RATE_LIMIT(dump, last_print) \
+ do { \
+ if (time_get_s() - last_print > 5) { \
+ dump(); \
+ last_print = time_get_s(); \
+ } \
+ } while (0)
+
+
+#if 0
+/* return true if we need to grab some more elements */
+static uint8_t need_more_elements(void)
{
- uint8_t i;
-
- /* /!\ don't do a big memset() as there is static data */
- strat_infos.s_cols.flags = 0;
- strat_infos.c1.count = 5;
- strat_infos.c1.last_try_time = 0;
- strat_infos.c2.count = 5;
- strat_infos.c2.last_try_time = 0;
- strat_infos.c3.count = 5;
- strat_infos.c3.last_try_time = 0;
- strat_infos.l1.count = 1;
- strat_infos.l1.last_try_time = 0;
- strat_infos.l2.count = 1;
- strat_infos.l2.last_try_time = 0;
-
- strat_infos.taken_lintel = 0;
- strat_infos.col_in_boobs = 0;
- strat_infos.lazy_pickup_done = 0;
- strat_infos.i2c_loaded_skipped = 0;
-
- memset(strat_infos.temple_list, 0, sizeof(strat_infos.temple_list));
-
- for (i=0; i<MAX_ZONE; i++)
- strat_infos.zone_list[i].flags = ZONE_F_VALID;
- strat_infos.zone_list[ZONE_DISC_NUM].flags |= ZONE_F_DISC;
- strat_infos.zone_list[ZONE_1A_NUM].flags |= ZONE_F_ZONE1;
- strat_infos.zone_list[ZONE_1B_NUM].flags |= ZONE_F_ZONE1;
- strat_infos.zone_list[ZONE_0A_NUM].flags |= ZONE_F_ZONE0;
- strat_infos.zone_list[ZONE_0B_NUM].flags |= ZONE_F_ZONE0;
-
- strat_set_bounding_box();
-
- /* set lintel position, depending on color */
- if (mainboard.our_color == I2C_COLOR_RED) {
- strat_infos.l1.x = 912;
- strat_infos.l2.x = 1312;
+ if (time_get_s() <= 75) {
+ /* we have enough time left */
+ if (get_ball_count() >= 4)
+ return 0;
+ if (get_cob_count() >= 4)
+ return 0;
+ if ((get_ball_count() >= 2) &&
+ (get_cob_count() >= 2))
+ return 0;
+ return 1;
}
else {
- strat_infos.l1.x = 888;
- strat_infos.l2.x = 1288;
+ /* not much time remaining */
+ if ((get_ball_count() >= 1) &&
+ (get_cob_count() >= 1))
+ return 0;
+ return 1;
}
}
+#endif
-/* call it just before launching the strat */
-void strat_init(void)
+/* get tomatoes near our goals (12,5 and 12,3) */
+uint8_t get_opp_oranges(void)
{
- pickup_wheels_on();
- strat_reset_infos();
+ int16_t x, y;
+ uint8_t i, j;
+ uint8_t err;
- /* we consider that the color is correctly set */
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
- strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
- time_reset();
- interrupt_traj_reset();
+ /* only if oranges are present */
+ if (strat_db.opp_oranges_count == 0)
+ return END_TRAJ;
- /* used in strat_base for END_TIMER */
- mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
- DO_POS | DO_BD | DO_TIMER | DO_POWER;
+ strat_db.opp_oranges_count = 0;
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
-#ifdef TEST_BEACON
- beacon_prev_time = 0;
- beacon_cur_idx = 0;
-#endif
-}
+ 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;
-/* call it after each strat */
-void strat_exit(void)
-{
- uint8_t flags;
+ strat_want_pack = 1;
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
- pickup_wheels_off();
- mainboard.flags &= ~(DO_TIMER);
- strat_hardstop();
- time_reset();
- wait_ms(1000);
- IRQ_LOCK(flags);
- mainboard.flags &= ~(DO_CS);
- pwm_ng_set(LEFT_PWM, 0);
- pwm_ng_set(RIGHT_PWM, 0);
- IRQ_UNLOCK(flags);
-}
+ /* 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;
-/* called periodically */
-void strat_event(void *dummy)
-{
- /* limit speed when opponent is close */
- strat_limit_speed();
+ trajectory_goto_forward_xy_abs(&mainboard.traj, 2625, COLOR_Y(597));
+ err = wait_traj_end(TRAJ_FLAGS_STD);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
-#ifdef TEST_BEACON
- beacon_update_samples();
-#endif
+ 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;
}
-/* do static cols + first temples */
-static uint8_t strat_beginning(void)
+/* get tomatoes near our goals (12,5 and 12,3) */
+uint8_t get_orphan_tomatoes(void)
{
+#define CLITOID_TOMATO_RADIUS 100.
+#define TOMATO_BACK_X 2760
+#define TOMATO_BACK_LEN 200
+
+ int16_t x, y, a;
+ uint8_t i, j;
uint8_t err;
+ int8_t ret;
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
- /* don't limit the speed when opponent is near: it can change
- * the radius of the curves */
- strat_limit_speed_disable();
+ /* only go if both tomatoes are present */
+ if (!strat_db.wp_table[12][5].present ||
+ !strat_db.wp_table[12][3].present) {
+ return END_TRAJ;
+ }
+
+ 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;
- err = strat_static_columns(0);
+ /* not on eject point */
+ if (i != 11 || j != 6)
+ return END_ERROR;
- strat_limit_speed_enable();
+ strat_want_pack = 1;
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
+ /* turn in the correct direction */
+ trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+ /* clitoid to turn and take the first ball */
+ ret = trajectory_clitoid(&mainboard.traj, 2625, COLOR_Y(1847),
+ COLOR_A(-90), 150., COLOR_A(90), 0,
+ CLITOID_TOMATO_RADIUS, 3*125);
+ if (ret < 0) {
+ err = END_ERROR;
+ goto fail;
+ }
+
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err))
- return err;
+ goto fail;
+
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+ err = strat_calib(300, END_TRAJ|END_BLOCKING);
+ a = position_get_a_deg_s16(&mainboard.pos);
+ if (ABS(a) < 10)
+ strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_FRONT,
+ DO_NOT_SET_POS,
+ COLOR_A(0));
+
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, -250);
+ err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
+ TRAJ_FLAGS_NO_NEAR);
+
+ if (err != 0 && !TRAJ_SUCCESS(err))
+ goto fail;
+
+ trajectory_d_a_rel(&mainboard.traj, -TOMATO_BACK_LEN, COLOR_A(-90));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+ /* next ball */
+
+ /* clitoid to turn and take the first ball */
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
+ ret = trajectory_clitoid(&mainboard.traj, 2625, COLOR_Y(1847),
+ COLOR_A(-90), 150., COLOR_A(90), 0,
+ CLITOID_TOMATO_RADIUS, 7*125);
+ if (ret < 0) {
+ err = END_ERROR;
+ goto fail;
+ }
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ strat_hardstop();
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, -250);
+ err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
+ TRAJ_FLAGS_NO_NEAR);
+ trajectory_d_a_rel(&mainboard.traj, -TOMATO_BACK_LEN, COLOR_A(-90));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+fail:
+ strat_want_pack = 0;
+ return err;
+}
+
- /* go to disc to build the first temple */
+#define HILL_LEN 1000
- /* XXX if opponent is near disc, go to zone1 */
- err = strat_goto_disc(2);
+#define HILL_ANGLE 0
+#define HILL_POSY_YELLOW 310
+#define HILL_POSY_BLUE 190
+
+#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;
+
+ if (orange_color == I2C_COLOR_YELLOW)
+ starty = HILL_POSY_YELLOW;
+ else
+ starty = HILL_POSY_BLUE;
+ if (orange_color == our_color)
+ startx = posx;
+ else
+ 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;
- DEBUG(E_USER_STRAT, "disc reached");
- /* can return END_ERROR or END_TIMER, should not happen
- * here */
- err = strat_build_new_temple(&strat_infos.zone_list[0]);
+ /* turn to the hills */
+ if (orange_color == our_color)
+ trajectory_a_abs(&mainboard.traj, COLOR_A(HILL_ANGLE));
+ else
+ trajectory_a_abs(&mainboard.traj, COLOR_A(-180+HILL_ANGLE));
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
if (!TRAJ_SUCCESS(err))
return err;
- /* bypass static2 if specified */
- if (strat_infos.conf.flags & STRAT_CONF_BYPASS_STATIC2) {
- err = strat_escape(&strat_infos.zone_list[0], TRAJ_FLAGS_STD);
- return err;
- }
+ 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);
- /* get the last 2 columns, and build them on previous temple */
- err = strat_static_columns_pass2();
+ 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;
- /* early opponent scan, for offensive strategy */
- if (strat_infos.conf.flags & STRAT_CONF_EARLY_SCAN) {
- err = strat_pickup_lintels();
- /* ignore code */
+ 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_DOWN1,
+ TRAJ_FLAGS_SMALL_DIST);
+ DEBUG(E_USER_STRAT, "deploy support balls");
+ support_balls_deploy();
+ 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);
+
+ 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_DOWN2,
+ TRAJ_FLAGS_SMALL_DIST);
+ DEBUG(E_USER_STRAT, "pack support balls");
+ support_balls_pack();
+ 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_VERY_SLOW, SPEED_ANGLE_FAST);
+ err = strat_calib(-400, TRAJ_FLAGS_SMALL_DIST);
+ if (orange_color == our_color)
+ strat_reset_pos(ROBOT_HALF_LENGTH_REAR,
+ DO_NOT_SET_POS, COLOR_A(0));
+ else
+ 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);
- /* try to build on opponent (scan must be enabled) */
- err = strat_build_on_opponent_temple();
- /* ignore code */
- }
+ 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 */
+ 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);
+ support_balls_deploy();
return err;
}
-/* return true if we need to grab some more elements (lintel/cols) */
-uint8_t need_more_elements(void)
+uint8_t strat_main(void)
{
- if (time_get_s() <= 75) {
- /* we have at least one col on each arm, build now */
- if ((get_column_count_left() >= 1) &&
- (get_column_count_right() >= 1))
- return 0;
- }
- else {
- if (get_column_count())
- return 0;
+ uint8_t err, do_initturn = 1;
+
+ /* 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;
}
- return 1;
-}
-/* dump state (every 5 s max) */
-#define DUMP_RATE_LIMIT(dump, last_print) \
- do { \
- if (time_get_s() - last_print > 5) { \
- dump(); \
- last_print = time_get_s(); \
- } \
- } while (0)
+ /* harvest the first cobs + balls */
+ err = strat_beginning(do_initturn);
+ if (!TRAJ_SUCCESS(err))
+ strat_unblock();
+ else
+ err = strat_eject();
-uint8_t strat_main(void)
-{
- uint8_t err;
- struct temple *temple = NULL;
- struct build_zone *zone = NULL;
+ /* choose circuit, and harvest on it */
+ while (1) {
- uint8_t last_print_cols = 0;
- uint8_t last_print_lin = 0;
- uint8_t last_print_temple = 0;
- uint8_t last_print_zone = 0;
+ DEBUG(E_USER_STRAT, "start main loop");
- /* do static cols + first temple */
- err = strat_beginning();
+ /* if it's time to get tomatoes, do it */
+ if (time_get_s() > strat_conf.orphan_tomato) {
+ err = get_orphan_tomatoes();
+ if (err == END_ERROR) {
+ DEBUG(E_USER_STRAT,
+ "get_orphan_tomatoes 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 these tomatoes if it failed */
+ strat_conf.orphan_tomato = 90;
+ strat_unblock();
+ }
+ }
+
+ /* 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();
+ }
+ }
- /* skip error code */
+ /**********************/
+ /* harvest on circuit */
+ /**********************/
- while (1) {
-
+ err = strat_harvest_circuit();
if (err == END_TIMER) {
DEBUG(E_USER_STRAT, "End of time");
strat_exit();
break;
}
-
- /* we have at least one col on each arm, build now */
- if (need_more_elements() == 0) {
-
- /* try to build on opponent, will return
- * END_TRAJ without doing anything if
- * disabled */
- err = strat_build_on_opponent_temple();
- if (!TRAJ_SUCCESS(err))
- continue;
- if (need_more_elements())
- continue;
-
- /* try to scan and build on our temple, will
- * return END_TRAJ without doing anything if
- * disabled */
- err = strat_check_temple_and_build();
- if (!TRAJ_SUCCESS(err))
- continue;
- if (need_more_elements())
- continue;
-
- /* Else, do a simple build, as before */
-
- temple = strat_get_best_temple();
-
- /* one valid temple found */
- if (temple) {
- DUMP_RATE_LIMIT(strat_dump_all_temples, last_print_temple);
-
- err = strat_goto_temple(temple);
- if (!TRAJ_SUCCESS(err))
- continue;
-
- /* can return END_ERROR or END_TIMER,
- * should not happen here */
- err = strat_grow_temple(temple);
- if (!TRAJ_SUCCESS(err))
- continue;
-
- err = strat_escape(temple->zone, TRAJ_FLAGS_STD);
- if (!TRAJ_SUCCESS(err))
- continue;
-
- continue;
- }
-
- zone = strat_get_best_zone();
- if (zone) {
- DUMP_RATE_LIMIT(strat_dump_all_zones, last_print_zone);
-
- DEBUG(E_USER_STRAT, "goto zone %s", zone->name);
- err = strat_goto_build_zone(zone, zone->level);
- if (!TRAJ_SUCCESS(err))
- continue;
- DEBUG(E_USER_STRAT, "zone reached");
-
- /* no error code except END_ERROR, should not happen */
- err = strat_build_new_temple(zone);
-
- err = strat_escape(zone, TRAJ_FLAGS_STD);
- if (!TRAJ_SUCCESS(err))
- continue;
-
- continue;
- }
-
- /* XXX hey what can we do here... :'( */
- DEBUG(E_USER_STRAT, "panic :)");
- time_wait_ms(1000);
+ if (!TRAJ_SUCCESS(err)) {
+ strat_unblock();
continue;
}
- /* else we need some elements (lintels, then columns) */
- else {
- if (strat_infos.l1.count != 0 && strat_infos.l2.count != 0)
- DUMP_RATE_LIMIT(strat_dump_lin_disp, last_print_lin);
-
- err = strat_pickup_lintels();
- /* can return an error code, but we have
- * nothing to do because pickup_column()
- * starts with a goto_and_avoid() */
- if (!TRAJ_SUCCESS(err))
- nop();
-
- DUMP_RATE_LIMIT(strat_dump_col_disp, last_print_cols);
-
- err = strat_pickup_columns();
- if (!TRAJ_SUCCESS(err))
- nop(); /* nothing to do */
-
- /* XXX check here that we have elements, or do
- * something else */
- /* if we cannot take elements, try to build */
+ /***********************/
+ /* eject game elements */
+ /***********************/
+
+ err = strat_eject();
+ /* end of time exit ! */
+ if (err == END_TIMER) {
+ DEBUG(E_USER_STRAT, "End of time");
+ strat_exit();
+ break;
+ }
+ if (!TRAJ_SUCCESS(err)) {
+ strat_unblock();
+ continue;
}
}
- return END_TRAJ;
+
+ return err;
}
git.droids-corp.org / aversive.git / blobdiff