#define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
#define COL_SCAN_PRE_MARGIN 250
+static volatile uint8_t strat_running = 0;
+static volatile uint8_t want_pack = 0;
struct strat_conf strat_conf;
/*************************************************************/
}
+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)
{
- /* XXX init rollers, .. */
-
- strat_db_init();
+#ifdef HOST_VERSION
+ position_set(&mainboard.pos, 298.16,
+ COLOR_Y(308.78), COLOR_A(70.00));
+#endif
/* we consider that the color is correctly set */
-
+ strat_running = 1;
+ strat_db_init();
strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
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_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
/* used in strat_base for END_TIMER */
DO_POS | DO_BD | DO_TIMER | DO_POWER;
}
-
/* call it after each strat */
void strat_exit(void)
{
uint8_t flags;
#endif
+ strat_running = 0;
mainboard.flags &= ~(DO_TIMER);
strat_hardstop();
time_reset();
#endif
}
-/* called periodically */
+/* called periodically (10ms) */
void strat_event(void *dummy)
{
-#if 0
- /* pack or deploy spickle */
- if (strat_infos.status.flags & STRAT_STATUS_LHARVEST) {
- if (sensor_get(S_LCOB_PRESENT)) {
- if (sensor_get(S_LCOB_WHITE))
- i2c_ballboard_set_mode();
- else
- ;
- }
- }
+ uint8_t flags;
+ int8_t lcob_near, rcob_near;
+ uint8_t lcob, rcob;
+ uint8_t lidx, ridx;
+
+ /* ignore when strat is not running */
+ if (strat_running == 0)
+ return;
+
+ IRQ_LOCK(flags);
+ lcob = ballboard.lcob;
+ ballboard.lcob = I2C_COB_NONE;
+ rcob = ballboard.rcob;
+ ballboard.rcob = I2C_COB_NONE;
+ IRQ_UNLOCK(flags);
+
+ /* 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
- /* limit speed when opponent is close */
+
+ /* detect cob on left side */
+ 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);
+ }
+
+ /* 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);
+ }
+
+ /* 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;
+ strat_set_acc(ACC_DIST, ACC_ANGLE);
+#ifdef HOST_VERSION
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+#else
+ /* 250 */
strat_set_speed(250, SPEED_ANGLE_FAST);
+#endif
+ // strat_set_speed(600, 60); /* OK */
+ strat_set_speed(250, 28); /* OK */
+
+ trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
+ err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
+ 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:
- err = line2line(LINE_R_UP, 2, LINE_UP, 5);
+#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);
+ strat_hardstop();
+ return END_TRAJ;
+#endif
+
+ strat_eject();
+
+ strat_set_speed(250, SPEED_ANGLE_FAST);
+
+ l4:
+ DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+ if (get_cob_count() >= 5)
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+
+ err = line2line(LINE_DOWN, 5, LINE_L_UP, 2);
if (!TRAJ_SUCCESS(err)) {
- trajectory_hardstop(&mainboard.traj);
+ strat_hardstop();
time_wait_ms(2000);
- goto l3;
+ goto l4;
}
- trajectory_hardstop(&mainboard.traj);
+ l5:
+ DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+ if (get_cob_count() >= 5)
+ 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);
+ err = line2line(LINE_L_UP, 2, LINE_R_UP, 2);
+ if (!TRAJ_SUCCESS(err)) {
+ strat_hardstop();
+ time_wait_ms(2000);
+ goto l5;
+ }
- /* 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);
+ 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);
+ 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;
}
}
}
-static uint8_t strat_harvest(void)
-{
- return 0;
-}
-
-static uint8_t strat_eject(void)
-{
- return 0;
-}
-
uint8_t strat_main(void)
{
uint8_t err;
git.droids-corp.org / aversive.git / blobdiff