/* 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();
/* 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();
}
{
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);
}
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);
}
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);