+ if (xycoord_to_ijcoord(&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_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))
+ 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);
+#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;
+
+ 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;
+}
+
+/* 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;
+
+ 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);
+ if (orange_color == I2C_COLOR_YELLOW)
+ starty = HILL_POSY_YELLOW;
+ else
+ starty = HILL_POSY_BLUE;
+ if (orange_color == our_color)
+ startx = HILL_START_POSX;
+ else
+ startx = AREA_X - HILL_START_POSX;
+ trajectory_goto_xy_abs(&mainboard.traj, startx, COLOR_Y(starty));
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+ /* turn to the hills */
+ if (orange_color == our_color)
+ trajectory_a_abs(&mainboard.traj, COLOR_A(0));
+ else
+ trajectory_a_abs(&mainboard.traj, COLOR_A(180));
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+ strat_set_acc(3, 3);
+ strat_set_speed(300, 500);
+ bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 2000000, 40);
+ support_balls_pack();
+
+ /* here it is difficult to handle return values, because we
+ * are on the hill */
+ 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"));
+ support_balls_deploy();
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+ time_wait_ms(2000);
+
+ /* 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"));
+ support_balls_pack();
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ printf_P(PSTR("deploy\r\n"));
+ support_balls_deploy();
+
+ /* 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);
+ if (orange_color == our_color)
+ position_set(&mainboard.pos, ROBOT_HALF_LENGTH_REAR,
+ DO_NOT_SET_POS, COLOR_A(0));
+ else
+ position_set(&mainboard.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);
+
+ /* revert acceleration and speed */
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ 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;
+}
+
+uint8_t strat_main(void)
+{
+ uint8_t err, do_initturn = 1;
+
+ /* get oranges */
+ if (strat_conf.flags & STRAT_CONF_OUR_ORANGE) {
+ err = run_to_the_hills(get_color());
+ do_initturn = 0;
+ }
+
+ /* harvest the first cobs + balls */
+ err = strat_beginning(do_initturn);
+
+ if (!TRAJ_SUCCESS(err))
+ strat_unblock();
+ else
+ err = strat_eject();
+
+ /* choose circuit, and harvest on it */
+ while (1) {
+
+ DEBUG(E_USER_STRAT, "start main loop");
+
+ /* 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();
+ }
+ }
+
+ /**********************/
+ /* harvest on circuit */
+ /**********************/
+
+ err = strat_harvest_circuit();
+ if (err == END_TIMER) {
+ DEBUG(E_USER_STRAT, "End of time");
+ strat_exit();
+ break;
+ }
+ if (!TRAJ_SUCCESS(err)) {
+ strat_unblock();
+ continue;
+ }
+
+ /***********************/
+ /* 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;
+ }
+ }