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20100416
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
strat.c
diff --git
a/projects/microb2010/mainboard/strat.c
b/projects/microb2010/mainboard/strat.c
index
6743d37
..
1a525e5
100644
(file)
--- a/
projects/microb2010/mainboard/strat.c
+++ b/
projects/microb2010/mainboard/strat.c
@@
-1,6
+1,6
@@
-/*
+/*
* Copyright Droids, Microb Technology (2009)
* 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
* 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
@@
-17,7
+17,7
@@
*
* Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
*
*
* 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 <stdio.h>
@@
-58,6
+58,7
@@
#include "main.h"
#include "strat.h"
#include "strat_base.h"
#include "main.h"
#include "strat.h"
#include "strat_base.h"
+#include "strat_corn.h"
#include "strat_utils.h"
#include "sensor.h"
#include "actuator.h"
#include "strat_utils.h"
#include "sensor.h"
#include "actuator.h"
@@
-70,7
+71,10
@@
struct strat_infos strat_infos = {
.conf = {
.flags = 0,
},
.conf = {
.flags = 0,
},
-
+ /* status */
+ .status = {
+ .flags = 0,
+ },
};
/*************************************************************/
};
/*************************************************************/
@@
-135,12
+139,14
@@
void strat_dump_infos(const char *caller)
* here */
void strat_reset_infos(void)
{
* here */
void strat_reset_infos(void)
{
+ init_corn_table(-1, -1);
}
/* call it just before launching the strat */
void strat_init(void)
{
/* XXX init rollers, .. */
}
/* call it just before launching the strat */
void strat_init(void)
{
/* XXX init rollers, .. */
+
strat_reset_infos();
/* we consider that the color is correctly set */
strat_reset_infos();
/* we consider that the color is correctly set */
@@
-150,7
+156,7
@@
void strat_init(void)
interrupt_traj_reset();
/* used in strat_base for END_TIMER */
interrupt_traj_reset();
/* used in strat_base for END_TIMER */
- mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
+ mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
DO_POS | DO_BD | DO_TIMER | DO_POWER;
}
DO_POS | DO_BD | DO_TIMER | DO_POWER;
}
@@
-174,6
+180,17
@@
void strat_exit(void)
/* called periodically */
void strat_event(void *dummy)
{
/* called periodically */
void strat_event(void *dummy)
{
+#if 0
+ /* pack or deploy spickle */
+ if (strat_infos.status.flags & STRAT_STATUS_LHARVEST) {
+ if (sensor_get(S_LCOB_PRESENT)) {
+ if (sensor_get(S_LCOB_WHITE))
+ i2c_ballboard_set_mode();
+ else
+ ;
+ }
+ }
+#endif
/* limit speed when opponent is close */
strat_limit_speed();
}
/* limit speed when opponent is close */
strat_limit_speed();
}
@@
-197,7
+214,7
@@
uint8_t strat_main(void)
{
uint8_t err;
{
uint8_t err;
- /*
do static cols + first temple
*/
+ /* */
err = strat_beginning();
return err;
err = strat_beginning();
return err;