#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 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)
{
+#ifdef HOST_VERSION
position_set(&mainboard.pos, 298.16,
COLOR_Y(308.78), COLOR_A(70.00));
-
- /* XXX init rollers, .. */
-
- strat_db_init();
+#endif
/* we consider that the color is correctly set */
-
+ strat_running = 1;
strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
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_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
/* used in strat_base for END_TIMER */
DO_POS | DO_BD | DO_TIMER | DO_POWER;
}
-
/* call it after each strat */
void strat_exit(void)
{
uint8_t flags;
#endif
+ strat_running = 0;
mainboard.flags &= ~(DO_TIMER);
strat_hardstop();
time_reset();
#endif
}
-/* called periodically */
+/* called periodically (10ms) */
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();
+ uint8_t flags;
+ int8_t lcob_near, rcob_near;
+ uint8_t lcob, rcob;
+ uint8_t lidx, ridx;
+
+ /* ignore when strat is not running */
+ if (strat_running == 0)
+ return;
+
+ /* read sensors from ballboard */
+ 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_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
+ if (time_get_s() == 15)
+ cobboard.cob_count = 5;
+ if (time_get_s() == 16)
+ cobboard.cob_count = 0;
+#endif
+
+ /* detect cob on left side */
+ 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);
+ corn_set_color(strat_db.corn_table[lidx], lcob);
+ }
+
+ /* detect cob on right side */
+ 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);
}
}
-#endif
- /* limit speed when opponent is close */
+ else {
+ /* 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 near */
strat_limit_speed();
}
-static uint8_t strat_beginning(void)
+
+static uint8_t strat_harvest(void)
+{
+ return 0;
+}
+
+/* must be called from a terminal line */
+static uint8_t strat_eject(void)
{
uint8_t err;
+ //XXX return vals
- strat_set_acc(ACC_DIST, ACC_ANGLE);
+ /* go to eject point */
+ trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+ 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);
+ }
+
+ /* pack arms */
+ strat_event_disable();
+ i2c_cobboard_pack(I2C_LEFT_SIDE);
+ i2c_cobboard_pack(I2C_RIGHT_SIDE);
+
+ /* ball ejection */
+ 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
- strat_set_speed(600, SPEED_ANGLE_FAST);
+ time_wait_ms(2000);
#else
- /* 250 */
- strat_set_speed(600, SPEED_ANGLE_FAST);
+ 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 */
+ trajectory_a_rel(&mainboard.traj, COLOR_A(180));
+ err = wait_traj_end(END_INTR|END_TRAJ);
+ /* cob ejection */
+ 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;
+}
+
+static uint8_t strat_beginning(void)
+{
+ uint8_t err;
+
+ strat_set_acc(ACC_DIST, ACC_ANGLE);
strat_set_speed(600, 60); /* OK */
- // strat_set_speed(250, 28); /* 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);
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
-#if 0
l1:
- 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)) {
- trajectory_hardstop(&mainboard.traj);
+ strat_hardstop();
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);
+ 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)) {
- trajectory_hardstop(&mainboard.traj);
+ strat_hardstop();
time_wait_ms(2000);
goto l2;
}
- l3:
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
+ strat_eject();
- err = line2line(LINE_R_UP, 2, LINE_UP, 5);
- if (!TRAJ_SUCCESS(err)) {
- trajectory_hardstop(&mainboard.traj);
- time_wait_ms(2000);
- goto l3;
+ while (1) {
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+ strat_harvest_circuit();
+ strat_eject();
}
-#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;
}
}
}
-static uint8_t strat_harvest(void)
-{
- return 0;
-}
-
-static uint8_t strat_eject(void)
-{
- return 0;
-}
-
uint8_t strat_main(void)
{
uint8_t err;
git.droids-corp.org / aversive.git / blobdiff