better cobboard commands in strat_event
[aversive.git] / projects / microb2010 / mainboard / strat.c
index 3839738..5ae3797 100644 (file)
@@ -67,7 +67,8 @@
 #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;
 struct strat_conf strat_conf;
 
 /*************************************************************/
@@ -98,6 +99,16 @@ void strat_conf_dump(const char *caller)
 
 }
 
+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)
 {
@@ -121,7 +132,6 @@ void strat_init(void)
                DO_POS | DO_BD | DO_TIMER | DO_POWER;
 }
 
-
 /* call it after each strat */
 void strat_exit(void)
 {
@@ -147,6 +157,7 @@ void strat_exit(void)
 void strat_event(void *dummy)
 {
        uint8_t flags;
+       int8_t lcob_near, rcob_near;
        uint8_t lcob, rcob;
        uint8_t lidx, ridx;
 
@@ -163,44 +174,109 @@ 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)) {
-               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);
-               }
+               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 (get_cob_count() >= 5 || want_pack) {
+               if (strat_db.corn_table[lidx]->corn.color != I2C_COB_WHITE &&
+                   strat_db.corn_table[lidx]->corn.color != I2C_COB_BLACK)
+                       i2c_cobboard_pack(I2C_LEFT_SIDE);
+       }
+       else {
                if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
                        i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
+               else if (strat_db.corn_table[lidx]->corn.color == I2C_COB_BLACK)
+                       i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
                else
                        i2c_cobboard_deploy(I2C_LEFT_SIDE);
        }
-       else {
-               i2c_cobboard_deploy(I2C_LEFT_SIDE);
-       }
 
-       /* 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);
-                       DEBUG(E_USER_STRAT, "rcob %s %d",
-                             rcob == I2C_COB_WHITE ? "white" : "black", ridx);
-               }
-               if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
+       /* control the cobboard mode for right spickle */
+       if (get_cob_count() >= 5 || want_pack) {
+               if (strat_db.corn_table[lidx]->corn.color != I2C_COB_WHITE &&
+                   strat_db.corn_table[lidx]->corn.color != I2C_COB_BLACK)
+                       i2c_cobboard_pack(I2C_RIGHT_SIDE);
+       }
+       else {
+               if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
                        i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
+               else if (strat_db.corn_table[lidx]->corn.color == I2C_COB_BLACK)
+                       i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
                else
                        i2c_cobboard_deploy(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();
 }
 
+
+static uint8_t strat_harvest(void)
+{
+       return 0;
+}
+
+static uint8_t strat_eject(void)
+{
+       uint8_t err;
+
+       //XXX return vals
+       strat_set_speed(600, SPEED_ANGLE_SLOW);
+
+       trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+       err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+       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();
+
+       /* 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);
+       strat_running = ;
+       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 +289,6 @@ 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 */
 
@@ -222,40 +297,33 @@ static uint8_t strat_beginning(void)
                                    TRAJ_FLAGS_STD);
 
        strat_set_acc(ACC_DIST, ACC_ANGLE);
+       strat_set_speed(250, 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);
        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 +336,46 @@ 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 +412,6 @@ 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;