cob detection

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index a5a952c..2c60428 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -100,6 +100,9 @@ void strat_conf_dump(const char *caller)
 /* 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_db_init();
@@ -110,8 +113,9 @@ void strat_init(void)
        time_reset();
        interrupt_traj_reset();
 
-       i2c_cobboard_mode_harvest(I2C_LEFT_SIDE);
-       i2c_cobboard_mode_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 */
@@ -143,17 +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();
 }
@@ -162,9 +174,29 @@ 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);
@@ -173,6 +205,9 @@ static uint8_t strat_beginning(void)
        }
 
  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);
@@ -181,12 +216,30 @@ static uint8_t strat_beginning(void)
        }
 
  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);
 
@@ -198,15 +251,15 @@ static uint8_t strat_beginning(void)
        /* half turn */
        trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
        err = wait_traj_end(END_INTR|END_TRAJ);
-       i2c_cobboard_mode_pack(I2C_LEFT_SIDE);
-       i2c_cobboard_mode_pack(I2C_RIGHT_SIDE);
+       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_mode_eject();
+       i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
        time_wait_ms(2000);
 
        trajectory_hardstop(&mainboard.traj);
@@ -223,12 +276,67 @@ static uint8_t strat_beginning(void)
        } 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;
 }