ballboard: ramp on roller, and maybe fix race on state machine

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 3839738..423b0f7 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -121,7 +121,6 @@ void strat_init(void)
                DO_POS | DO_BD | DO_TIMER | DO_POWER;
 }
 
-
 /* call it after each strat */
 void strat_exit(void)
 {
@@ -163,6 +162,14 @@ void strat_event(void *dummy)
 
        /* 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;
+       if (time_get_s() == 25)
+               cobboard.cob_count = 5;
+#endif
 
        /* detect cob on left side */
        if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
@@ -201,6 +208,41 @@ void strat_event(void *dummy)
        strat_limit_speed();
 }
 
+
+static uint8_t strat_harvest(void)
+{
+       return 0;
+}
+
+static uint8_t strat_eject(void)
+{
+       trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+       err = wait_traj_end(END_INTR|END_TRAJ);
+
+       DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+       strat_hardstop();
+       strat_set_speed(600, SPEED_ANGLE_FAST);
+
+       /* ball ejection */
+       trajectory_a_abs(&mainboard.traj, COLOR_A(90));
+       i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+       time_wait_ms(2000);
+
+       /* 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);
+       err = wait_traj_end(END_INTR|END_TRAJ);
+       i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+       time_wait_ms(2000);
+
+       return 0;
+}
+
 static uint8_t strat_beginning(void)
 {
        uint8_t err;
@@ -213,7 +255,6 @@ static uint8_t strat_beginning(void)
        strat_set_speed(250, SPEED_ANGLE_FAST);
 #endif
 
-
        // strat_set_speed(600, 60); /* OK */
        strat_set_speed(250, 28); /* OK */
 
@@ -225,37 +266,29 @@ static uint8_t strat_beginning(void)
 
 #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);
        if (!TRAJ_SUCCESS(err)) {
-               trajectory_hardstop(&mainboard.traj);
+               strat_hardstop();
                time_wait_ms(2000);
                goto l1;
        }
 
  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);
        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);
-
-       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);
@@ -268,32 +301,46 @@ static uint8_t strat_beginning(void)
        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);
+       strat_hardstop();
        return END_TRAJ;
 #endif
 
-       trajectory_hardstop(&mainboard.traj);
+       strat_eject();
 
-       /* ball ejection */
-       trajectory_a_abs(&mainboard.traj, COLOR_A(90));
-       i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
-       time_wait_ms(2000);
+       strat_set_speed(250, SPEED_ANGLE_FAST);
 
-       /* 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);
+ l4:
+       DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+       if (get_cob_count() >= 5)
+               strat_set_speed(600, SPEED_ANGLE_FAST);
 
-       /* 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);
+       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;
+       }
+
+       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();
 
-       trajectory_hardstop(&mainboard.traj);
        return END_TRAJ;
 }
 
@@ -330,16 +377,6 @@ static uint8_t need_more_elements(void)
        }
 }
 
-static uint8_t strat_harvest(void)
-{
-       return 0;
-}
-
-static uint8_t strat_eject(void)
-{
-       return 0;
-}
-
 uint8_t strat_main(void)
 {
        uint8_t err;