cob detection

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 52b151e..2c60428 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -113,9 +113,9 @@ void strat_init(void)
        time_reset();
        interrupt_traj_reset();
 
-       //i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
-       //i2c_cobboard_harvest(I2C_LEFT_SIDE);
-       //i2c_cobboard_harvest(I2C_RIGHT_SIDE);
+       i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+       i2c_cobboard_harvest(I2C_LEFT_SIDE);
+       i2c_cobboard_harvest(I2C_RIGHT_SIDE);
        i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 
        /* used in strat_base for END_TIMER */
@@ -147,17 +147,25 @@ void strat_exit(void)
 /* 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
+       uint8_t flags;
+       uint8_t lcob, rcob;
+
+       IRQ_LOCK(flags);
+       lcob = ballboard.lcob;
+       ballboard.lcob = I2C_COB_NONE;
+       rcob = ballboard.rcob;
+       ballboard.rcob = I2C_COB_NONE;
+       IRQ_UNLOCK(flags);
+
+       if (lcob == I2C_COB_WHITE)
+               DEBUG(E_USER_STRAT, "lcob white");
+       if (lcob == I2C_COB_BLACK)
+               DEBUG(E_USER_STRAT, "lcob black");
+       if (rcob == I2C_COB_WHITE)
+               DEBUG(E_USER_STRAT, "rcob white");
+       if (rcob == I2C_COB_BLACK)
+               DEBUG(E_USER_STRAT, "rcob black");
+
        /* limit speed when opponent is close */
        strat_limit_speed();
 }
@@ -171,20 +179,20 @@ static uint8_t strat_beginning(void)
        strat_set_speed(600, SPEED_ANGLE_FAST);
 #else
        /* 250 */
-       strat_set_speed(600, SPEED_ANGLE_FAST);
+       strat_set_speed(250, SPEED_ANGLE_FAST);
 #endif
 
 
-       strat_set_speed(600, 60); /* OK */
-       // strat_set_speed(250, 28); /* OK */
+       // strat_set_speed(600, 60); /* OK */
+       strat_set_speed(250, 28); /* OK */
 
-       trajectory_d_a_rel(&mainboard.traj, 500, COLOR_A(20));
+       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);
 
-#if 0
+#if 1
  l1:
        if (get_cob_count() >= 5)
                strat_set_speed(600, SPEED_ANGLE_FAST);