pack spickles when opponent is near

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index dd7b23c..14aaf65 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -75,6 +75,10 @@ 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;
+
+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,
@@ -222,6 +226,7 @@ static void check_corn(void)
        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);
@@ -270,8 +275,10 @@ static void check_corn(void)
        }
 
        /* 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 {
@@ -296,15 +303,17 @@ static void check_corn(void)
        }
        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 {
@@ -329,13 +338,57 @@ static void check_corn(void)
        }
        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)
 {
@@ -343,6 +396,7 @@ void strat_event(void *dummy)
        if (strat_running == 0)
                return;
 
+       check_opponent();
        check_tomato();
        check_corn();
 
@@ -360,7 +414,7 @@ static uint8_t robot_is_on_eject_line(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 0;
 
        if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
@@ -384,7 +438,7 @@ static uint8_t eject_select_speed(void)
                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 */
@@ -566,7 +620,7 @@ uint8_t get_opp_oranges(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 */
@@ -623,7 +677,7 @@ 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 */