#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;
/*************************************************************/
}
+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)
{
DO_POS | DO_BD | DO_TIMER | DO_POWER;
}
-
/* call it after each strat */
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;
#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;
strat_set_speed(250, SPEED_ANGLE_FAST);
#endif
-
// strat_set_speed(600, 60); /* OK */
strat_set_speed(250, 28); /* OK */
TRAJ_FLAGS_STD);
strat_set_acc(ACC_DIST, ACC_ANGLE);
+ strat_set_speed(250, SPEED_ANGLE_SLOW);
#if 1
l1:
goto l2;
}
- WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
- TRAJ_FLAGS_STD);
- trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
- err = wait_traj_end(END_INTR|END_TRAJ);
-
#else
strat_set_speed(600, SPEED_ANGLE_FAST);
err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
return END_TRAJ;
#endif
- 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));
- 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);
- i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
- time_wait_ms(2000);
+ strat_eject();
strat_set_speed(250, SPEED_ANGLE_FAST);
WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
TRAJ_FLAGS_STD);
- trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
- err = wait_traj_end(END_INTR|END_TRAJ);
-
- 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));
- 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);
- i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
- time_wait_ms(2000);
+ strat_eject();
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;