better movements

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index e08c4af..52b151e 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -100,6 +100,9 @@ void strat_conf_dump(const char *caller)
 /* call it just before launching the strat */
 void strat_init(void)
 {
 /* 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();
        /* XXX init rollers, .. */
 
        strat_db_init();


@@ -110,9 +113,9 @@ void strat_init(void)
        time_reset();
        interrupt_traj_reset();
 
        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_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 */
        i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 
        /* used in strat_base for END_TIMER */


@@ -163,9 +166,29 @@ static uint8_t strat_beginning(void)
 {
        uint8_t err;
 
 {
        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:
  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);
        err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
        if (!TRAJ_SUCCESS(err)) {
                trajectory_hardstop(&mainboard.traj);


@@ -174,6 +197,9 @@ static uint8_t strat_beginning(void)
        }
 
  l2:
        }
 
  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);
        err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
        if (!TRAJ_SUCCESS(err)) {
                trajectory_hardstop(&mainboard.traj);


@@ -182,12 +208,30 @@ static uint8_t strat_beginning(void)
        }
 
  l3:
        }
 
  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;
        }
        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);
 
 
        trajectory_hardstop(&mainboard.traj);