#include <quadramp.h>
#include <control_system_manager.h>
#include <trajectory_manager.h>
+#include <trajectory_manager_utils.h>
+#include <trajectory_manager_core.h>
#include <vect_base.h>
#include <lines.h>
#include <polygon.h>
#include "../common/i2c_commands.h"
#include "i2c_protocol.h"
#include "main.h"
+#include "cs.h"
#include "strat.h"
#include "strat_db.h"
#include "strat_base.h"
#include "strat_corn.h"
#include "strat_utils.h"
+#include "strat_avoid.h"
#include "sensor.h"
#include "actuator.h"
#define COL_SCAN_PRE_MARGIN 250
static volatile uint8_t strat_running = 0;
-struct strat_conf strat_conf;
+volatile uint8_t strat_want_pack = 0;
+volatile uint8_t strat_lpack60 = 0;
+volatile uint8_t strat_rpack60 = 0;
+
+volatile uint8_t strat_opponent_lpack = 0;
+volatile uint8_t strat_opponent_rpack = 0;
+
+struct strat_conf strat_conf = {
+ .dump_enabled = 0,
+ .opp_orange = 90,
+ .orphan_tomato = 45,
+ .flags = 0,
+};
/*************************************************************/
mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
DO_POS | DO_BD | DO_POWER;
- //i2c_cobboard_mode_init();
+ strat_db_init();
+ strat_conf.prev_wait_obstacle = -5;
strat_conf_dump(__FUNCTION__);
strat_db_dump(__FUNCTION__);
}
return;
printf_P(PSTR("-- conf --\r\n"));
-
+ printf_P(PSTR("our_orange = %s\r\n"),
+ (strat_conf.flags & STRAT_CONF_OUR_ORANGE) ? "y":"n");
+ printf_P(PSTR("wait_obstacle = %s\r\n"),
+ (strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE) ? "y":"n");
+ printf_P(PSTR("straight begin = %s\r\n"),
+ (strat_conf.flags & STRAT_CONF_STRAIGHT_BEGIN) ? "y":"n");
+ printf_P(PSTR("opp_orange = %d\r\n"), strat_conf.opp_orange);
+ printf_P(PSTR("orphan_tomato = %d\r\n"), strat_conf.orphan_tomato);
}
void strat_event_enable(void)
/* 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_deploy(I2C_LEFT_SIDE);
+ i2c_cobboard_deploy(I2C_RIGHT_SIDE);
i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
#endif
}
-/* called periodically (10ms) */
-void strat_event(void *dummy)
+/* mark tomato as not present */
+static void check_tomato(void)
{
- uint8_t flags;
- uint8_t lcob, rcob;
- uint8_t lidx, ridx;
+ int16_t x, y;
+ uint8_t i, j;
+ static uint8_t prev_check_time;
+ uint8_t cur_time;
+
+ /* check present tomatoes once per second */
+ cur_time = time_get_s();
+ if (cur_time != prev_check_time) {
+ uint8_t k;
+
+ for (k = 0; k < TOMATO_NB; k++) {
+ if (strat_db.tomato_table[k]->present == 1 &&
+ strat_db.tomato_table[k]->time_removed != -1 &&
+ strat_db.tomato_table[k]->time_removed + 2 <= time_get_s()) {
+#ifdef HOST_VERSION
+ printf("remove tomato %d\n", k);
+#endif
+ strat_db.tomato_table[k]->present = 0;
+ }
+ }
+ prev_check_time = cur_time;
+ }
- /* ignore when strat is not running */
- if (strat_running == 0)
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
+
+ if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
return;
+ if (strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
+ return;
+
+ if (strat_db.wp_table[i][j].present == 0)
+ return;
+
+ strat_db.wp_table[i][j].time_removed = time_get_s();
+ strat_db.wp_table[i][j].present = 0;
+#ifdef HOST_VERSION
+ ballboard.ball_count ++;
+ printf("add ball %d,%d\n", i, j);
+#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)
+{
+ uint8_t flags;
+ int8_t lcob_near, rcob_near;
+ uint8_t lcob, rcob;
+ uint8_t lidx, ridx;
+ static uint8_t prev_check_time;
+ uint8_t cur_time;
+ uint8_t need_lpack, need_rpack;
+ int16_t l_xspickle, l_yspickle;
+ int16_t r_xspickle, r_yspickle;
+ uint8_t l_y_too_high_pack = 0, r_y_too_high_pack = 0;
+
+ /* read sensors from ballboard */
IRQ_LOCK(flags);
lcob = ballboard.lcob;
ballboard.lcob = I2C_COB_NONE;
ballboard.rcob = I2C_COB_NONE;
IRQ_UNLOCK(flags);
- /* XXX take opponent position into account */
+ /* check present cobs once per second */
+ cur_time = time_get_s();
+ if (cur_time != prev_check_time) {
+ uint8_t i;
+ /* only useful for simu */
+ for (i = 0; i < CORN_NB; i++) {
+ if (strat_db.corn_table[i]->present == 1 &&
+ strat_db.corn_table[i]->time_removed != -1 &&
+ strat_db.corn_table[i]->time_removed + 2 <= time_get_s()) {
#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;
+ printf("remove cob %d\n", i);
#endif
+ strat_db.corn_table[i]->present = 0;
+ }
+ }
+ prev_check_time = cur_time;
+ }
/* 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,
+ &l_xspickle, &l_yspickle);
+ 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);
+ }
+ if (cur_time > 5 && !__y_is_more_than(l_yspickle, 600))
+ l_y_too_high_pack = 1;
- if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
- i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
+ /* detect cob on right side */
+ rcob_near = corn_is_near(&ridx, I2C_RIGHT_SIDE,
+ &r_xspickle, &r_yspickle);
+ 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);
+ }
+ 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 ||
+ 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)
+ i2c_cobboard_autoharvest_nomove(I2C_LEFT_SIDE);
+ else
+ i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
+ remove_cob(lidx);
+ }
+ }
+ else {
+ /* no cob near us, we can pack or deploy freely */
+ if (need_lpack)
+ i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
else
i2c_cobboard_deploy(I2C_LEFT_SIDE);
}
+
+ /* 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 ||
+ 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)
+ i2c_cobboard_autoharvest_nomove(I2C_RIGHT_SIDE);
+ else
+ i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
+ remove_cob(ridx);
+ }
+ }
else {
- i2c_cobboard_deploy(I2C_LEFT_SIDE);
+ /* no cob near us, we can pack or deploy freely */
+ if (need_rpack)
+ i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
+ else
+ i2c_cobboard_deploy(I2C_RIGHT_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);
+/* check opponent position */
+void check_opponent(void)
+{
+ int16_t opp_x, opp_y;
+ int16_t opp_d, opp_a;
+ uint8_t i, j;
- if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
- i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
- else
- i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+ strat_opponent_lpack = 0;
+ strat_opponent_rpack = 0;
+
+ if (get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a) < 0)
+ return;
+
+ /* pack spickles if opponent too close */
+ if (opp_d < 600) {
+ if (opp_a > 45 && opp_a < 135)
+ strat_opponent_lpack = 1;
+ if (opp_a > 225 && opp_a < 315)
+ strat_opponent_rpack = 1;
}
- else {
- i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+
+ /* check for oranges after 5 seconds */
+ if (time_get_s() > 5) {
+ if (mainboard.our_color == I2C_COLOR_YELLOW) {
+ if (opp_y < 500 && opp_x < 500)
+ strat_db.our_oranges_count = 0;
+ if (opp_y < 500 && opp_x > AREA_X - 500)
+ strat_db.opp_oranges_count = 0;
+ }
+ else {
+ if (opp_y > AREA_Y - 500 && opp_x < 500)
+ strat_db.our_oranges_count = 0;
+ if (opp_y > AREA_Y - 500 && opp_x > AREA_X - 500)
+ strat_db.opp_oranges_count = 0;
+ }
}
+ /* malus for some tomatoes and cobs, visited by opponent */
+ if (xycoord_to_ijcoord(&opp_x, &opp_y, &i, &j) < 0)
+ return;
- /* limit speed when opponent is close */
- strat_limit_speed();
+ strat_db.wp_table[i][j].opp_visited = 1;
}
+/* called periodically (10ms) */
+void strat_event(void *dummy)
+{
+ /* ignore when strat is not running */
+ if (strat_running == 0)
+ return;
+
+ check_opponent();
+ check_tomato();
+ check_corn();
+
+ /* limit speed when opponent is near */
+ /* disabled for 2010, we are already slow :) */
+ //strat_limit_speed();
+}
-static uint8_t strat_harvest(void)
+/* check that we are on an eject line */
+static uint8_t robot_is_on_eject_line(void)
{
- return 0;
+ int16_t x, y;
+ uint8_t i, j;
+
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
+
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
+ return 0;
+
+ if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
+ !wp_belongs_to_line(i, j, 2, LINE_R_UP))
+ return 0;
+
+ return 1;
}
-static uint8_t strat_eject(void)
+/* 0 = fast, 1 = slow */
+static uint8_t eject_select_speed(void)
{
- uint8_t err;
+ int16_t x, y;
+ uint8_t i, j;
- //XXX return vals
- strat_set_speed(600, SPEED_ANGLE_SLOW);
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
- 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);
+ if (get_cob_count() >= 5) {
+ strat_want_pack = 1;
+ return 0; /* fast */
+ }
- DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
- strat_hardstop();
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0) {
+ DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
+ __FUNCTION__, x, y);
+ return 1; /* slow */
+ }
- /* 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);
+ if (corn_count_neigh(i, j) == 2)
+ return 1; /* slow */
+
+ return 0; /* fast */
+}
+/* called multiple times while we are waiting to reach the ejection
+ * point */
+static uint8_t speedify_eject(void)
+{
+ if (eject_select_speed())
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+ else
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
return 0;
}
-static uint8_t strat_beginning(void)
+/* must be called from a terminal line */
+static uint8_t strat_eject(void)
{
uint8_t err;
- strat_set_acc(ACC_DIST, ACC_ANGLE);
+ DEBUG(E_USER_STRAT, "%s() cob_count=%d ball_count=%d",
+ __FUNCTION__, get_cob_count(), get_ball_count());
+
+ /* check that we are called from an eject line */
+ if (!robot_is_on_eject_line()) {
+ DEBUG(E_USER_STRAT, "%s() not on eject line", __FUNCTION__);
+ return END_ERROR;
+ }
+
+ /* go to eject point */
+ trajectory_goto_forward_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+ err = WAIT_COND_OR_TRAJ_END(speedify_eject(),
+ TRAJ_FLAGS_NO_NEAR);
+ /* err is never == 0 because speedify_eject() always return 0 */
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ /* pack arms (force), and disable strat_event */
+ strat_event_disable();
+ i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
+ i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
+
+ /* ball ejection */
+ if (get_ball_count() > 0) {
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+ time_wait_ms(300);
+ trajectory_a_abs(&mainboard.traj, COLOR_A(70));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+ strat_hardstop();
#ifdef HOST_VERSION
- strat_set_speed(600, SPEED_ANGLE_FAST);
+ time_wait_ms(2000);
#else
- /* 250 */
- strat_set_speed(250, SPEED_ANGLE_FAST);
+ WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
+ 2000);
#endif
+ }
+ else {
+ /* to pack spickles */
+ time_wait_ms(300);
+ }
- // strat_set_speed(600, 60); /* OK */
- strat_set_speed(250, 28); /* OK */
+ 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 (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ /* cob ejection */
+ trajectory_d_rel(&mainboard.traj, -70);
+ err = wait_traj_end(END_INTR|END_TRAJ);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+ time_wait_ms(2000);
+
+
+ /* cob ejection */
+ trajectory_d_rel(&mainboard.traj, 70);
+ err = wait_traj_end(END_INTR|END_TRAJ);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+ }
- 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_db_dump(__FUNCTION__);
+ err = END_TRAJ;
+
+ fail:
+ strat_event_enable();
+ strat_want_pack = 0;
+ return err;
+}
+
+static uint8_t strat_beginning(uint8_t do_initturn)
+{
+ uint8_t err;
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);
+ if (do_initturn) {
+ //strat_set_speed(600, 60);
+ //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);
+ }
- err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
- if (!TRAJ_SUCCESS(err)) {
- strat_hardstop();
+ strat_set_acc(ACC_DIST, ACC_ANGLE);
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+
+ l1:
+ err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
+ if (err == END_OBSTACLE &&
+ strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
+ time_get_s() > strat_conf.prev_wait_obstacle + 5) {
+ strat_conf.prev_wait_obstacle = time_get_s();
time_wait_ms(2000);
goto l1;
}
+ if (!TRAJ_SUCCESS(err))
+ return err;
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)) {
- strat_hardstop();
+ err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
+ if (err == END_OBSTACLE &&
+ strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
+ time_get_s() > strat_conf.prev_wait_obstacle + 5) {
+ strat_conf.prev_wait_obstacle = time_get_s();
time_wait_ms(2000);
goto l2;
}
+ if (!TRAJ_SUCCESS(err)) {
+ return err;
+ }
-#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);
+static uint8_t strat_beginning2(uint8_t do_initturn)
+{
+ uint8_t err;
- l4:
- DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
+ strat_set_acc(ACC_DIST, ACC_ANGLE);
- err = line2line(LINE_DOWN, 5, LINE_L_UP, 2);
- if (!TRAJ_SUCCESS(err)) {
- strat_hardstop();
- time_wait_ms(2000);
- goto l4;
+ if (do_initturn) {
+ strat_set_speed(600, 95); /* OK */
+ trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(-40));
+ err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
+ TRAJ_FLAGS_STD);
+ if (err == 0)
+ return END_TRAJ;
}
-
- 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;
+ else {
+ trajectory_goto_forward_xy_abs(&mainboard.traj,
+ 375, COLOR_Y(597));
+ err = wait_traj_end(TRAJ_FLAGS_STD);
}
-
- 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();
-
- return END_TRAJ;
+ return err;
}
/* dump state (every 5 s max) */
} while (0)
+#if 0
/* return true if we need to grab some more elements */
static uint8_t need_more_elements(void)
{
return 1;
}
}
+#endif
-uint8_t strat_main(void)
+/* get tomatoes near our goals (12,5 and 12,3) */
+uint8_t get_opp_oranges(void)
{
+ int16_t x, y;
+ uint8_t i, j;
uint8_t err;
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ /* only if oranges are present */
+ if (strat_db.opp_oranges_count == 0)
+ return END_TRAJ;
+
+ strat_db.opp_oranges_count = 0;
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
+
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
+ return END_ERROR;
+
+ /* not on eject point */
+ if (i != 11 || j != 6)
+ return END_ERROR;
+
+ strat_want_pack = 1;
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
+ /* turn in the correct direction */
+ trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ trajectory_goto_forward_xy_abs(&mainboard.traj, 2625, COLOR_Y(597));
+ err = wait_traj_end(TRAJ_FLAGS_STD);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
+ trajectory_goto_forward_xy_abs(&mainboard.traj, 2750, COLOR_Y(250));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ err = run_to_the_hills(get_opponent_color());
+
+ fail:
+ strat_want_pack = 0;
+ return err;
+}
+
+/* get tomatoes near our goals (12,5 and 12,3) */
+uint8_t get_orphan_tomatoes(void)
+{
+#define CLITOID_TOMATO_RADIUS 100.
+#define TOMATO_BACK_X 2780
+#define TOMATO_BACK_LEN 200
+
+ int16_t x, y, a;
+ uint8_t i, j;
+ uint8_t err;
+ int8_t ret;
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ /* only go if both tomatoes are present */
+ if (!strat_db.wp_table[12][5].present ||
+ !strat_db.wp_table[12][3].present) {
+ return END_TRAJ;
+ }
+
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
+
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
+ return END_ERROR;
+
+ /* not on eject point */
+ if (i != 11 || j != 6)
+ return END_ERROR;
+
+ strat_want_pack = 1;
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
+
+ /* turn in the correct direction */
+ trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+ /* clitoid to turn and take the first ball */
+ ret = trajectory_clitoid(&mainboard.traj, 2625, COLOR_Y(1847),
+ COLOR_A(-90), 150., COLOR_A(90), 0,
+ CLITOID_TOMATO_RADIUS, 3*125);
+ if (ret < 0) {
+ err = END_ERROR;
+ goto fail;
+ }
+
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+ err = strat_calib(300, END_TRAJ|END_BLOCKING);
+ a = position_get_a_deg_s16(&mainboard.pos);
+ if (ABS(a) < 10)
+ strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_FRONT,
+ DO_NOT_SET_POS,
+ COLOR_A(0) + ROBOT_ANGLE_FRONT);
+
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, -250);
+ err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
+ TRAJ_FLAGS_NO_NEAR);
+
+ if (err != 0 && !TRAJ_SUCCESS(err))
+ goto fail;
+
+ trajectory_d_a_rel(&mainboard.traj, -TOMATO_BACK_LEN, COLOR_A(-90));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+ /* next ball */
+
+ /* clitoid to turn and take the first ball */
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
+ ret = trajectory_clitoid(&mainboard.traj, 2625, COLOR_Y(1847),
+ COLOR_A(-90), 150., COLOR_A(90), 0,
+ CLITOID_TOMATO_RADIUS, 7*125);
+ if (ret < 0) {
+ err = END_ERROR;
+ goto fail;
+ }
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ strat_hardstop();
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, -250);
+ err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
+ TRAJ_FLAGS_NO_NEAR);
+ trajectory_d_a_rel(&mainboard.traj, -TOMATO_BACK_LEN, COLOR_A(-90));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+fail:
+ strat_want_pack = 0;
+ return err;
+}
+
+
+#define HILL_LEN 1000
+
+#define HILL_ANGLE 0
+#define HILL_POSY_YELLOW 310
+#define HILL_POSY_BLUE 190
+
+#define HILL_POSX_BALLS_DOWN1 830
+#define HILL_POSX_BALLS_DOWN2 920
+#define HILL_POSX_BALLS_DOWN3 730
+#define HILL_START_POSX 580
+
+uint8_t prepare_hill(uint8_t orange_color, int16_t posx)
+{
+ int16_t startx, starty;
+ uint8_t our_color = get_color();
+ uint8_t err;
+
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
+ if (orange_color == I2C_COLOR_YELLOW)
+ starty = HILL_POSY_YELLOW;
+ else
+ starty = HILL_POSY_BLUE;
+ if (orange_color == our_color)
+ startx = posx;
+ else
+ startx = AREA_X - posx;
+ trajectory_goto_forward_xy_abs(&mainboard.traj, startx, COLOR_Y(starty));
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ /* turn to the hills */
+ if (orange_color == our_color)
+ trajectory_a_abs(&mainboard.traj, COLOR_A(HILL_ANGLE));
+ else
+ trajectory_a_abs(&mainboard.traj, COLOR_A(-180+HILL_ANGLE));
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ return END_TRAJ;
+}
+
+/* get oranges, must be called near game area */
+uint8_t run_to_the_hills(uint8_t orange_color)
+{
+ double aa, ad;
+ uint16_t sa, sd;
+ uint8_t err;
+ uint8_t our_color = get_color();
+ int32_t p = pid_get_gain_P(&mainboard.angle.pid);
+ int32_t i = pid_get_gain_I(&mainboard.angle.pid);
+ int32_t d = pid_get_gain_D(&mainboard.angle.pid);
+ int32_t max_in = pid_get_max_in(&mainboard.angle.pid);
+ int32_t max_i = pid_get_max_I(&mainboard.angle.pid);
+ int32_t max_out = pid_get_max_out(&mainboard.angle.pid);
+
+ strat_want_pack = 1;
+ strat_get_acc(&ad, &aa);
+ strat_get_speed(&sd, &sa);
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+ err = prepare_hill(orange_color, HILL_START_POSX);
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ strat_set_acc(5, ACC_ANGLE);
+ strat_set_speed(300, SPEED_ANGLE_SLOW);
+ bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 2000000, 80);
+ bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 2000000, 80);
+ bd_set_speed_threshold(&mainboard.distance.bd, 10);
+ support_balls_pack();
+
+ /* decrease angle gains */
+ pid_set_gains(&mainboard.angle.pid, 200, 0, 2000);
+
+ /* here it is difficult to handle return values, because we
+ * are on the hill */
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
+ trajectory_d_rel(&mainboard.traj, HILL_LEN);
+ if (orange_color == our_color)
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
+ HILL_POSX_BALLS_DOWN1,
+ TRAJ_FLAGS_SMALL_DIST);
+ else
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
+ AREA_X - HILL_POSX_BALLS_DOWN1,
+ TRAJ_FLAGS_SMALL_DIST);
+ DEBUG(E_USER_STRAT, "deploy support balls");
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
+ support_balls_deploy();
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_UP);
+ trajectory_only_a_rel(&mainboard.traj, 2);
+ err = WAIT_COND_OR_TE_TO(0, 0, 2200);
+
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
+ strat_set_acc(3, 3);
+ strat_hardstop();
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
+
+ time_wait_ms(500);
+
+ trajectory_d_rel(&mainboard.traj, 15);
+ time_wait_ms(700);
+ strat_hardstop();
+ time_wait_ms(200);
+
+ /* reach top, go down */
+ 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) <
+ HILL_POSX_BALLS_DOWN2,
+ TRAJ_FLAGS_SMALL_DIST);
+ else
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
+ AREA_X - HILL_POSX_BALLS_DOWN2,
+ TRAJ_FLAGS_SMALL_DIST);
+ DEBUG(E_USER_STRAT, "pack support balls");
+ support_balls_pack();
+ if (orange_color == our_color)
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
+ HILL_POSX_BALLS_DOWN3,
+ TRAJ_FLAGS_SMALL_DIST);
+ else
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
+ AREA_X - HILL_POSX_BALLS_DOWN3,
+ TRAJ_FLAGS_SMALL_DIST);
+
+ DEBUG(E_USER_STRAT, "deploy support balls");
+ 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,
+ TRAJ_FLAGS_SMALL_DIST);
+ else
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
+ 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);
+ bd_set_speed_threshold(&mainboard.distance.bd, 60);
+
+ /* calibrate position on the wall */
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_SLOW);
+
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+
+ trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ time_wait_ms(200);
+
+ err = strat_calib(400, TRAJ_FLAGS_SMALL_DIST);
+ strat_reset_pos(DO_NOT_SET_POS,
+ COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
+ COLOR_A(-90) + ROBOT_ANGLE_FRONT);
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
+ 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_a_abs(&mainboard.traj, 0);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ time_wait_ms(200);
+
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
+ err = strat_calib(400, TRAJ_FLAGS_SMALL_DIST);
+ if (orange_color == our_color)
+ strat_reset_pos(ROBOT_HALF_LENGTH_FRONT,
+ DO_NOT_SET_POS,
+ 180 + ROBOT_ANGLE_FRONT);
+ else
+ strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_FRONT,
+ DO_NOT_SET_POS,
+ 0 + ROBOT_ANGLE_FRONT);
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
+ 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);
+ strat_want_pack = 0;
+ strat_set_speed(sd, sa);
+ support_balls_deploy();
+ return err;
+}
+
+uint8_t strat_main(void)
+{
+ uint8_t err, do_initturn = 1;
+
+ /* get oranges */
+ if (strat_conf.flags & STRAT_CONF_OUR_ORANGE) {
+ err = run_to_the_hills(get_color());
+ strat_db.our_oranges_count = 0;
+ do_initturn = 0;
+ }
+
/* harvest the first cobs + balls */
- err = strat_beginning();
+ if (strat_conf.flags & STRAT_CONF_STRAIGHT_BEGIN)
+ err = strat_beginning2(do_initturn);
+ else
+ err = strat_beginning(do_initturn);
+ if (!TRAJ_SUCCESS(err))
+ strat_unblock();
+ else
+ err = strat_eject();
+
+ /* choose circuit, and harvest on it */
while (1) {
- /* end of time exit ! */
+
+ DEBUG(E_USER_STRAT, "start main loop");
+
+ /* if it's time to get tomatoes, do it */
+ if (time_get_s() > strat_conf.orphan_tomato) {
+ err = get_orphan_tomatoes();
+ if (err == END_ERROR) {
+ DEBUG(E_USER_STRAT,
+ "get_orphan_tomatoes returned END_ERROR");
+ }
+ else if (err == END_TIMER) {
+ DEBUG(E_USER_STRAT, "End of time");
+ strat_exit();
+ break;
+ }
+ else if (!TRAJ_SUCCESS(err)) {
+ /* don't retry these tomatoes if it failed */
+ strat_conf.orphan_tomato = 90;
+ strat_unblock();
+ }
+ }
+
+ /* if it's time to get opponent oranges, do it */
+ if (time_get_s() > strat_conf.opp_orange) {
+ err = get_opp_oranges();
+ if (err == END_ERROR) {
+ DEBUG(E_USER_STRAT,
+ "get_opp_oranges returned END_ERROR");
+ }
+ else if (err == END_TIMER) {
+ DEBUG(E_USER_STRAT, "End of time");
+ strat_exit();
+ break;
+ }
+ else if (!TRAJ_SUCCESS(err)) {
+ /* don't retry oranges if it failed */
+ strat_conf.opp_orange = 90;
+ strat_unblock();
+ }
+ }
+
+ /**********************/
+ /* harvest on circuit */
+ /**********************/
+
+ err = strat_harvest_circuit();
if (err == END_TIMER) {
DEBUG(E_USER_STRAT, "End of time");
strat_exit();
break;
}
+ if (!TRAJ_SUCCESS(err)) {
+ strat_unblock();
+ continue;
+ }
+
+ /***********************/
+ /* eject game elements */
+ /***********************/
- if (need_more_elements() == 0) {
- /* we have enough elements, go to eject */
- err = strat_eject();
- if (!TRAJ_SUCCESS(err))
- continue;
+ err = strat_eject();
+ /* end of time exit ! */
+ if (err == END_TIMER) {
+ DEBUG(E_USER_STRAT, "End of time");
+ strat_exit();
+ break;
}
- else {
- /* harvest */
- err = strat_harvest();
- if (!TRAJ_SUCCESS(err))
- continue;
+ if (!TRAJ_SUCCESS(err)) {
+ strat_unblock();
+ continue;
}
}
git.droids-corp.org / aversive.git / blobdiff