#include "i2c_protocol.h"
#include "main.h"
#include "strat.h"
+#include "strat_db.h"
#include "strat_base.h"
+#include "strat_corn.h"
#include "strat_utils.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
-struct strat_infos strat_infos = {
- /* conf */
- .conf = {
- .flags = 0,
- },
- /* status */
- .status = {
- .flags = 0,
- },
-};
+struct strat_conf strat_conf;
/*************************************************************/
/*************************************************************/
-void strat_set_bounding_box(void)
-{
- if (get_color() == I2C_COLOR_YELLOW) {
- 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;
- }
-
- polygon_set_boundingbox(strat_infos.area_bbox.x1,
- strat_infos.area_bbox.y1,
- strat_infos.area_bbox.x2,
- strat_infos.area_bbox.y2);
-}
-
/* called before each strat, and before the start switch */
void strat_preinit(void)
{
mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
DO_POS | DO_BD | DO_POWER;
- i2c_cobboard_mode_init();
- strat_dump_conf();
- strat_dump_infos(__FUNCTION__);
+ //i2c_cobboard_mode_init();
+ strat_conf_dump(__FUNCTION__);
+ strat_db_dump(__FUNCTION__);
}
-void strat_dump_conf(void)
+void strat_conf_dump(const char *caller)
{
- if (!strat_infos.dump_enabled)
+ if (!strat_conf.dump_enabled)
return;
printf_P(PSTR("-- conf --\r\n"));
}
-/* display current information about the state of the game */
-void strat_dump_infos(const char *caller)
-{
- if (!strat_infos.dump_enabled)
- return;
-
- printf_P(PSTR("%s() dump strat infos:\r\n"), caller);
-}
-
-/* init current area state before a match. Dump update user conf
- * here */
-void strat_reset_infos(void)
-{
-}
-
/* call it just before launching the strat */
void strat_init(void)
{
+ position_set(&mainboard.pos, 298.16,
+ COLOR_Y(308.78), COLOR_A(70.00));
+
/* XXX init rollers, .. */
- strat_reset_infos();
+
+ strat_db_init();
/* we consider that the color is correctly set */
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_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;
/* call it after each strat */
void strat_exit(void)
{
+#ifndef HOST_VERSION
uint8_t flags;
+#endif
mainboard.flags &= ~(DO_TIMER);
strat_hardstop();
time_reset();
- wait_ms(1000);
+ 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);
- IRQ_UNLOCK(flags);
+#endif
}
/* 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();
}
static uint8_t strat_beginning(void)
{
+ uint8_t err;
+
+ strat_set_acc(ACC_DIST, ACC_ANGLE);
+#ifdef HOST_VERSION
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+#else
+ /* 250 */
+ strat_set_speed(250, SPEED_ANGLE_FAST);
+#endif
+
+
+ // strat_set_speed(600, 60); /* OK */
+ strat_set_speed(250, 28); /* 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);
+
+#if 1
+ l1:
+ if (get_cob_count() >= 5)
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+
+ err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
+ if (!TRAJ_SUCCESS(err)) {
+ trajectory_hardstop(&mainboard.traj);
+ time_wait_ms(2000);
+ goto l1;
+ }
+
+ l2:
+ if (get_cob_count() >= 5)
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+
+ err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
+ if (!TRAJ_SUCCESS(err)) {
+ trajectory_hardstop(&mainboard.traj);
+ time_wait_ms(2000);
+ goto l2;
+ }
+
+ l3:
+ if (get_cob_count() >= 5)
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+
+ err = line2line(LINE_R_UP, 2, LINE_UP, 5);
+ if (!TRAJ_SUCCESS(err)) {
+ trajectory_hardstop(&mainboard.traj);
+ time_wait_ms(2000);
+ goto l3;
+ }
+#else
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+ err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
+ err = line2line(LINE_R_DOWN, 3, LINE_R_UP, 2);
+ err = line2line(LINE_R_UP, 2, LINE_R_DOWN, 2);
+ err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 3);
+ err = line2line(LINE_R_UP, 3, LINE_UP, 5);
+ err = line2line(LINE_UP, 5, LINE_L_DOWN, 2);
+ err = line2line(LINE_L_DOWN, 2, LINE_L_UP, 1);
+ err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
+ err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
+ wait_ms(500);
+ trajectory_hardstop(&mainboard.traj);
+ return END_TRAJ;
+#endif
+
+ trajectory_hardstop(&mainboard.traj);
+
+ /* ball ejection */
+ trajectory_a_abs(&mainboard.traj, COLOR_A(90));
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+ time_wait_ms(2000);
+
+ /* half turn */
+ trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+ err = wait_traj_end(END_INTR|END_TRAJ);
+ i2c_cobboard_pack(I2C_LEFT_SIDE);
+ i2c_cobboard_pack(I2C_RIGHT_SIDE);
+ trajectory_a_rel(&mainboard.traj, COLOR_A(180));
+ err = wait_traj_end(END_INTR|END_TRAJ);
+
+ /* cob ejection */
+ trajectory_d_rel(&mainboard.traj, -100);
+ err = wait_traj_end(END_INTR|END_TRAJ);
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+ time_wait_ms(2000);
+
+ trajectory_hardstop(&mainboard.traj);
return END_TRAJ;
}
} while (0)
+/* return true if we need to grab some more elements */
+static uint8_t need_more_elements(void)
+{
+ 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 {
+ /* not much time remaining */
+ if ((get_ball_count() >= 1) &&
+ (get_cob_count() >= 1))
+ return 0;
+ return 1;
+ }
+}
+
+static uint8_t strat_harvest(void)
+{
+ return 0;
+}
+
+static uint8_t strat_eject(void)
+{
+ return 0;
+}
+
uint8_t strat_main(void)
{
uint8_t err;
- /* */
+ /* harvest the first cobs + balls */
err = strat_beginning();
+ while (1) {
+ /* end of time exit ! */
+ if (err == END_TIMER) {
+ DEBUG(E_USER_STRAT, "End of time");
+ strat_exit();
+ break;
+ }
+
+ if (need_more_elements() == 0) {
+ /* we have enough elements, go to eject */
+ err = strat_eject();
+ if (!TRAJ_SUCCESS(err))
+ continue;
+ }
+ else {
+ /* harvest */
+ err = strat_harvest();
+ if (!TRAJ_SUCCESS(err))
+ continue;
+ }
+ }
+
return err;
}
git.droids-corp.org / aversive.git / blobdiff