/* 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();
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 */
{
uint8_t err;
- strat_set_speed(250, SPEED_ANGLE_FAST);
+ strat_set_acc(ACC_DIST, ACC_ANGLE);
+#ifdef HOST_VERSION
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+#else
+ /* 250 */
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+#endif
+
+
+ strat_set_speed(600, 60); /* OK */
+ // strat_set_speed(250, 28); /* OK */
+ trajectory_d_a_rel(&mainboard.traj, 500, 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 0
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);
/* 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);
} 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;
}