better cobboard commands in strat_event

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 423b0f7..5ae3797 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -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)
 {
@@ -146,6 +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;
 
@@ -172,39 +184,54 @@ void strat_event(void *dummy)
 #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();
 }
 
@@ -216,12 +243,18 @@ static uint8_t strat_harvest(void)
 
 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(END_INTR|END_TRAJ);
+       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();
-       strat_set_speed(600, SPEED_ANGLE_FAST);
 
        /* ball ejection */
        trajectory_a_abs(&mainboard.traj, COLOR_A(90));
@@ -237,6 +270,7 @@ static uint8_t strat_eject(void)
        /* 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);
 
@@ -263,6 +297,7 @@ 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: