return;
printf_P(PSTR("-- conf --\r\n"));
- printf_P(PSTR("our_orange = %s\n"),
+ printf_P(PSTR("our_orange = %s\r\n"),
(strat_conf.flags & STRAT_CONF_OUR_ORANGE) ? "y":"n");
- printf_P(PSTR("wait_obstacle = %s\n"),
+ printf_P(PSTR("wait_obstacle = %s\r\n"),
(strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE) ? "y":"n");
- printf_P(PSTR("opp_orange = %d\n"), strat_conf.opp_orange);
- printf_P(PSTR("orphan_tomato = %d\n"), strat_conf.orphan_tomato);
+ 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)
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
}
+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)
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);
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 &&
}
/* detect cob on left side */
- lcob_near = corn_is_near(&lidx, I2C_LEFT_SIDE);
+ 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;
/* detect cob on right side */
- rcob_near = corn_is_near(&ridx, I2C_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;
- if (lcob_near && strat_db.corn_table[lidx]->present) {
+ 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) {
+ 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);
-#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;
- if (rcob_near && strat_db.corn_table[ridx]->present) {
+ 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) {
+ 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);
-#endif
- }
- }
else
i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
+ remove_cob(ridx);
}
}
else {
/* 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))
#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
}
+ else {
+ /* to pack spickles */
+ time_wait_ms(300);
+ }
- /* half turn */
- trajectory_a_abs(&mainboard.traj, COLOR_A(-110));
- err = wait_traj_end(END_INTR|END_TRAJ);
- if (!TRAJ_SUCCESS(err))
- goto fail;
+ 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;
+ /* cob ejection */
+ trajectory_d_rel(&mainboard.traj, -70);
+ err = wait_traj_end(END_INTR|END_TRAJ);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
- if (get_cob_count() > 0) {
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;
+
+ /* cob ejection */
+ trajectory_d_rel(&mainboard.traj, 70);
+ err = wait_traj_end(END_INTR|END_TRAJ);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+ }
strat_db_dump(__FUNCTION__);
err = END_TRAJ;
strat_set_acc(ACC_DIST, ACC_ANGLE);
if (do_initturn) {
- strat_set_speed(600, 60); /* OK */
+ //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);
strat_set_acc(ACC_DIST, ACC_ANGLE);
if (do_initturn) {
- strat_set_speed(600, 90); /* OK */
+ 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 (ABS(a) < 10)
strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_FRONT,
DO_NOT_SET_POS,
- COLOR_A(0));
+ COLOR_A(0) + ROBOT_ANGLE_FRONT);
strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_FAST);
trajectory_d_rel(&mainboard.traj, -250);
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
bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 2000000, 80);
bd_set_speed_threshold(&mainboard.distance.bd, 10);
support_balls_pack();
- i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
/* decrease angle gains */
pid_set_gains(&mainboard.angle.pid, 200, 0, 2000);
* are on the hill */
i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
trajectory_d_rel(&mainboard.traj, HILL_LEN);
- err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
- HILL_POSX_BALLS_DOWN1,
- TRAJ_FLAGS_SMALL_DIST);
+ 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);
strat_hardstop();
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
- time_wait_ms(1800);
+ 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_rel(&mainboard.traj, -HILL_LEN);
+ trajectory_d_a_rel(&mainboard.traj, -HILL_LEN, -2);
- err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
- HILL_POSX_BALLS_DOWN2,
- TRAJ_FLAGS_SMALL_DIST);
+ 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();
- err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
- HILL_POSX_BALLS_DOWN3,
- TRAJ_FLAGS_SMALL_DIST);
+ 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");
- strat_set_acc(ad, aa);
- strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
support_balls_deploy();
- err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
- i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+
+ 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 */
- err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) < 200,
- TRAJ_FLAGS_SMALL_DIST);
+ 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);
- i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ 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_speed_threshold(&mainboard.distance.bd, 60);
/* calibrate position on the wall */
- 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_REAR,
- DO_NOT_SET_POS, COLOR_A(0));
- else
- strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_REAR,
- DO_NOT_SET_POS, COLOR_A(180));
+ 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);
+ trajectory_d_rel(&mainboard.traj, -250);
err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
- if (orange_color == I2C_COLOR_YELLOW)
- trajectory_a_rel(&mainboard.traj, 90);
+#if 0
+ if (orange_color == our_color)
+ trajectory_a_abs(&mainboard.traj, 180);
else
- trajectory_a_rel(&mainboard.traj, -90);
+ 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);
- strat_reset_pos(DO_NOT_SET_POS,
- COLOR_Y(ROBOT_HALF_LENGTH_REAR),
- COLOR_A(90));
+ 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);
+ 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