#include "strat_base.h"
#include "strat_corn.h"
#include "strat_utils.h"
+#include "strat_avoid.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
-static uint8_t strat_running = 0;
+static volatile uint8_t strat_running = 0;
+static volatile uint8_t want_pack = 0;
+volatile uint8_t strat_lpack60 = 0;
+volatile uint8_t strat_rpack60 = 0;
struct strat_conf strat_conf;
/*************************************************************/
mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
DO_POS | DO_BD | DO_POWER;
- //i2c_cobboard_mode_init();
+ strat_db_init();
strat_conf_dump(__FUNCTION__);
strat_db_dump(__FUNCTION__);
}
}
+void strat_event_enable(void)
+{
+ strat_running = 1;
+}
+
+void strat_event_disable(void)
+{
+ strat_running = 0;
+}
+
/* call it just before launching the strat */
void strat_init(void)
{
/* we consider that the color is correctly set */
strat_running = 1;
- strat_db_init();
strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
time_reset();
interrupt_traj_reset();
void strat_event(void *dummy)
{
uint8_t flags;
+ int8_t lcob_near, rcob_near;
uint8_t lcob, rcob;
uint8_t lidx, ridx;
if (strat_running == 0)
return;
+ /* read sensors from ballboard */
IRQ_LOCK(flags);
lcob = ballboard.lcob;
ballboard.lcob = I2C_COB_NONE;
ballboard.rcob = I2C_COB_NONE;
IRQ_UNLOCK(flags);
+/* if (lcob != I2C_COB_NONE) */
+/* DEBUG(E_USER_STRAT, "XXX lcob %s", */
+/* lcob == I2C_COB_WHITE ? "white" : "black"); */
+/* if (rcob != I2C_COB_NONE) */
+/* DEBUG(E_USER_STRAT, "XXX rcob %s", */
+/* rcob == I2C_COB_WHITE ? "white" : "black"); */
/* XXX take opponent position into account */
#ifdef HOST_VERSION
cobboard.cob_count = 5;
if (time_get_s() == 16)
cobboard.cob_count = 0;
- if (time_get_s() == 25)
- cobboard.cob_count = 5;
#endif
/* detect cob on left side */
- if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
- if (lcob != I2C_COB_NONE) {
- corn_set_color(strat_db.corn_table[lidx], lcob);
+ lcob_near = corn_is_near(&lidx, I2C_LEFT_SIDE);
+ if (lcob_near && lcob != I2C_COB_NONE) {
+ if (strat_db.corn_table[lidx]->corn.color == I2C_COB_UNKNOWN)
DEBUG(E_USER_STRAT, "lcob %s %d",
lcob == I2C_COB_WHITE ? "white" : "black", lidx);
- }
- if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
- i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
- else
- i2c_cobboard_deploy(I2C_LEFT_SIDE);
- }
- else {
- i2c_cobboard_deploy(I2C_LEFT_SIDE);
+ corn_set_color(strat_db.corn_table[lidx], lcob);
}
/* detect cob on right side */
- if (corn_is_near(&ridx, I2C_RIGHT_SIDE)) {
- if (rcob != I2C_COB_NONE) {
- corn_set_color(strat_db.corn_table[ridx], rcob);
+ rcob_near = corn_is_near(&ridx, I2C_RIGHT_SIDE);
+ if (rcob_near && rcob != I2C_COB_NONE) {
+ if (strat_db.corn_table[ridx]->corn.color == I2C_COB_UNKNOWN)
DEBUG(E_USER_STRAT, "rcob %s %d",
rcob == I2C_COB_WHITE ? "white" : "black", ridx);
+ corn_set_color(strat_db.corn_table[ridx], rcob);
+ }
+
+ /* control the cobboard mode for left spickle */
+ if (lcob_near && strat_db.corn_table[lidx]->present) {
+ if (get_cob_count() >= 5 || want_pack || strat_lpack60) {
+ /* nothing */
+ }
+ else {
+ /* deploy spickle and harvest white ones */
+ if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE) {
+ i2c_cobboard_autoharvest_nomove(I2C_LEFT_SIDE);
+ if (cobboard.status == I2C_COBBOARD_STATUS_LBUSY)
+ strat_db.corn_table[lidx]->present = 0;
+ }
+ else
+ i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
}
- if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
- i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
- else
- i2c_cobboard_deploy(I2C_RIGHT_SIDE);
}
else {
- i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+ /* no cob near us, we can pack or deploy freely */
+ if (get_cob_count() >= 5 || want_pack || strat_lpack60)
+ i2c_cobboard_pack(I2C_LEFT_SIDE);
+ else
+ i2c_cobboard_deploy(I2C_LEFT_SIDE);
}
+ /* control the cobboard mode for right spickle */
+ if (rcob_near && strat_db.corn_table[ridx]->present) {
+ if (get_cob_count() >= 5 || want_pack || strat_rpack60) {
+ /* nothing */
+ }
+ else {
+ /* deploy spickle and harvest white ones */
+ if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE) {
+ i2c_cobboard_autoharvest_nomove(I2C_RIGHT_SIDE);
+ if (cobboard.status == I2C_COBBOARD_STATUS_RBUSY)
+ strat_db.corn_table[ridx]->present = 0;
+ }
+ else
+ i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
+ }
+ }
+ else {
+ /* no cob near us, we can pack or deploy freely */
+ if (get_cob_count() >= 5 || want_pack || strat_rpack60)
+ i2c_cobboard_pack(I2C_RIGHT_SIDE);
+ else
+ i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+ }
- /* limit speed when opponent is close */
+ /* limit speed when opponent is near */
strat_limit_speed();
}
return 0;
}
+/* must be called from a terminal line */
static uint8_t strat_eject(void)
{
+ uint8_t err;
+ //XXX return vals
+
+ /* go to eject point */
trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
- err = wait_traj_end(END_INTR|END_TRAJ);
+ err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5,
+ TRAJ_FLAGS_NO_NEAR);
+ if (err == 0) {
+ want_pack = 1;
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ }
- DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
- strat_hardstop();
- strat_set_speed(600, SPEED_ANGLE_FAST);
+ /* pack arms */
+ strat_event_disable();
+ i2c_cobboard_pack(I2C_LEFT_SIDE);
+ i2c_cobboard_pack(I2C_RIGHT_SIDE);
/* ball ejection */
- trajectory_a_abs(&mainboard.traj, COLOR_A(90));
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+ trajectory_a_abs(&mainboard.traj, COLOR_A(70));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+ DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+ strat_hardstop();
+#ifdef HOST_VERSION
time_wait_ms(2000);
+#else
+ WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
+ 2000);
+ WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
+ 2000);
+#endif
/* half turn */
- 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);
+ trajectory_d_rel(&mainboard.traj, -70);
err = wait_traj_end(END_INTR|END_TRAJ);
+
i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+ strat_db_dump(__FUNCTION__);
time_wait_ms(2000);
+ strat_event_enable();
+ want_pack = 0;
return 0;
}
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 */
+ 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);
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
-#if 1
l1:
- DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-
- err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
+ DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
+ err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err)) {
strat_hardstop();
time_wait_ms(2000);
}
l2:
- DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-
- err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
+ DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
+ err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err)) {
strat_hardstop();
time_wait_ms(2000);
goto l2;
}
-#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);
- strat_hardstop();
- return END_TRAJ;
-#endif
-
strat_eject();
- strat_set_speed(250, SPEED_ANGLE_FAST);
-
- l4:
- DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-
- err = line2line(LINE_DOWN, 5, LINE_L_UP, 2);
- if (!TRAJ_SUCCESS(err)) {
- strat_hardstop();
- time_wait_ms(2000);
- goto l4;
- }
-
- l5:
- DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-
- err = line2line(LINE_L_UP, 2, LINE_R_UP, 2);
- if (!TRAJ_SUCCESS(err)) {
- strat_hardstop();
- time_wait_ms(2000);
- goto l5;
+ while (1) {
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+ strat_harvest_circuit();
+ strat_eject();
}
- DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-
- WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
- TRAJ_FLAGS_STD);
- strat_eject();
-
return END_TRAJ;
}
git.droids-corp.org / aversive.git / blobdiff