#endif
}
+static void remove_cob(uint8_t idx)
+{
+ if (strat_db.corn_table[idx]->corn.color == I2C_COB_BLACK)
+ return;
+
+ if (strat_db.corn_table[idx]->time_removed == -1) {
+ strat_db.corn_table[idx]->time_removed = time_get_s();
+#ifdef HOST_VERSION
+ cobboard.cob_count ++;
+ printf("add cob %d\n", idx);
+#endif
+ }
+}
+
/* mark corn as not present and give correct commands to the cobboard
* for spickles */
static void check_corn(void)
lcob == I2C_COB_WHITE ? "white" : "black", lidx);
corn_set_color(strat_db.corn_table[lidx], lcob);
}
- if (!__y_is_more_than(l_yspickle, 600))
+ if (cur_time > 5 && !__y_is_more_than(l_yspickle, 600))
l_y_too_high_pack = 1;
/* detect cob on right side */
rcob == I2C_COB_WHITE ? "white" : "black", ridx);
corn_set_color(strat_db.corn_table[ridx], rcob);
}
- if (!__y_is_more_than(r_yspickle, 600))
+ if (cur_time > 5 && !__y_is_more_than(r_yspickle, 600))
r_y_too_high_pack = 1;
+ /* re-enable white cob */
+ if (lcob == I2C_COB_WHITE && lcob_near &&
+ strat_db.corn_table[lidx]->present == 0) {
+ strat_db.corn_table[lidx]->present = 1;
+ strat_db.corn_table[lidx]->time_removed = -1;
+ }
+ if (rcob == I2C_COB_WHITE && rcob_near &&
+ strat_db.corn_table[ridx]->present == 0) {
+ strat_db.corn_table[ridx]->present = 1;
+ strat_db.corn_table[ridx]->time_removed = -1;
+ }
+
/* control the cobboard mode for left spickle */
need_lpack = get_cob_count() >= 5 || strat_want_pack ||
strat_lpack60 || strat_opponent_lpack || l_y_too_high_pack;
- if (lcob_near && strat_db.corn_table[lidx]->present) {
+ if (lcob_near &&
+ (strat_db.corn_table[lidx]->present ||
+ strat_db.corn_table[lidx]->time_removed == -1)) {
if (need_lpack) {
/* nothing */
}
else {
/* deploy spickle and harvest white ones */
- if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE) {
+ if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
i2c_cobboard_autoharvest_nomove(I2C_LEFT_SIDE);
- if (strat_db.corn_table[lidx]->time_removed == -1
-#ifndef HOST_VERSION
- && cobboard.status == I2C_COBBOARD_STATUS_LBUSY
-#endif
- ) {
- strat_db.corn_table[lidx]->time_removed = time_get_s();
-#ifdef HOST_VERSION
- cobboard.cob_count ++;
- printf("add cob %d\n", lidx);
-#else
- strat_db.corn_table[lidx]->present = 0;
-#endif
- }
- }
else
i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
+ remove_cob(lidx);
}
}
else {
/* control the cobboard mode for right spickle */
need_rpack = get_cob_count() >= 5 || strat_want_pack ||
strat_rpack60 || strat_opponent_rpack || r_y_too_high_pack;
- if (rcob_near && strat_db.corn_table[ridx]->present) {
+ if (rcob_near &&
+ (strat_db.corn_table[ridx]->present ||
+ strat_db.corn_table[ridx]->time_removed == -1)) {
if (need_rpack) {
/* nothing */
}
else {
/* deploy spickle and harvest white ones */
- if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE) {
+ if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
i2c_cobboard_autoharvest_nomove(I2C_RIGHT_SIDE);
- if (strat_db.corn_table[ridx]->time_removed == -1
-#ifndef HOST_VERSION
- && cobboard.status == I2C_COBBOARD_STATUS_RBUSY
-#endif
- ) {
- strat_db.corn_table[ridx]->time_removed = time_get_s();
-#ifdef HOST_VERSION
- cobboard.cob_count ++;
- printf("add cob %d\n", ridx);
-#else
- strat_db.corn_table[ridx]->present = 0;
-#endif
- }
- }
else
i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
+ remove_cob(ridx);
}
}
else {
#ifdef HOST_VERSION
time_wait_ms(2000);
#else
- WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
- 2000);
WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
2000);
#endif
time_wait_ms(300);
}
- if (get_cob_count() > 0) {
+ if (get_cob_count() > 0 ||
+ cobboard.status == I2C_COBBOARD_STATUS_LBUSY ||
+ cobboard.status == I2C_COBBOARD_STATUS_RBUSY) {
/* half turn */
trajectory_a_abs(&mainboard.traj, COLOR_A(-110));
err = wait_traj_end(END_INTR|END_TRAJ);
if (do_initturn) {
//strat_set_speed(600, 60);
- strat_set_speed(450, 50);
+ //strat_set_speed(450, 50);
+ strat_set_speed(350, 40);
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_hardstop();
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
- time_wait_ms(1100);
+ time_wait_ms(500);
trajectory_d_rel(&mainboard.traj, 15);
- time_wait_ms(400);
+ time_wait_ms(700);
strat_hardstop();
time_wait_ms(200);
/* reach top, go down */
- trajectory_d_rel(&mainboard.traj, -HILL_LEN);
+ trajectory_d_a_rel(&mainboard.traj, -HILL_LEN, -2);
if (orange_color == our_color)
err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
TRAJ_FLAGS_SMALL_DIST);
DEBUG(E_USER_STRAT, "deploy support balls");
- strat_set_acc(ad, aa);
- strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
support_balls_deploy();
+ if (orange_color == I2C_COLOR_YELLOW) {
+ strat_set_acc(ad, aa);
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+ }
+ else {
+ strat_set_acc(ad, 0.4);
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
+ trajectory_d_a_rel(&mainboard.traj, -500, 20);
+ }
+
/* wait to be near the wall */
if (orange_color == our_color)
err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) < 300,
AREA_X - 300,
TRAJ_FLAGS_SMALL_DIST);
+ strat_set_acc(ad, aa);
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
/* restore BD coefs */
bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
trajectory_d_rel(&mainboard.traj, -250);
err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+#if 0
if (orange_color == our_color)
trajectory_a_abs(&mainboard.traj, 180);
else
trajectory_d_rel(&mainboard.traj, -250);
err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
-
+#endif
/* revert acceleration and speed */
pid_set_gains(&mainboard.angle.pid, p, i, d);
pid_set_maximums(&mainboard.distance.pid, max_in, max_i, max_out);
git.droids-corp.org / aversive.git / blobdiff