circuit strat, first version

[aversive.git] / projects / microb2010 / mainboard / strat.c

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 5ae3797..7ea7b88 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -61,6 +61,7 @@
 #include "strat_base.h"
 #include "strat_corn.h"
 #include "strat_utils.h"
 #include "strat_base.h"
 #include "strat_corn.h"
 #include "strat_utils.h"

+#include "strat_avoid.h"

 #include "sensor.h"
 #include "actuator.h"
 
 #include "sensor.h"
 #include "actuator.h"
 


@@ -85,7 +86,7 @@ void strat_preinit(void)
        mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
                DO_POS | DO_BD | DO_POWER;
 
        mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
                DO_POS | DO_BD | DO_POWER;
 

-       //i2c_cobboard_mode_init();
+       strat_db_init();

        strat_conf_dump(__FUNCTION__);
        strat_db_dump(__FUNCTION__);
 }
        strat_conf_dump(__FUNCTION__);
        strat_db_dump(__FUNCTION__);
 }


@@ -119,7 +120,6 @@ void strat_init(void)
 
        /* we consider that the color is correctly set */
        strat_running = 1;
 
        /* 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();
        strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
        time_reset();
        interrupt_traj_reset();


@@ -165,6 +165,7 @@ void strat_event(void *dummy)
        if (strat_running == 0)
                return;
 
        if (strat_running == 0)
                return;
 

+       /* read sensors from ballboard */

        IRQ_LOCK(flags);
        lcob = ballboard.lcob;
        ballboard.lcob = I2C_COB_NONE;
        IRQ_LOCK(flags);
        lcob = ballboard.lcob;
        ballboard.lcob = I2C_COB_NONE;


@@ -172,6 +173,12 @@ void strat_event(void *dummy)
        ballboard.rcob = I2C_COB_NONE;
        IRQ_UNLOCK(flags);
 
        ballboard.rcob = I2C_COB_NONE;
        IRQ_UNLOCK(flags);
 

+/*     if (lcob != I2C_COB_NONE) */
+/*             DEBUG(E_USER_STRAT, "XXX lcob %s", */
+/*                   lcob == I2C_COB_WHITE ? "white" : "black"); */
+/*     if (rcob != I2C_COB_NONE) */
+/*             DEBUG(E_USER_STRAT, "XXX rcob %s", */
+/*                   rcob == I2C_COB_WHITE ? "white" : "black"); */

        /* XXX take opponent position into account */
 
 #ifdef HOST_VERSION
        /* XXX take opponent position into account */
 
 #ifdef HOST_VERSION


@@ -202,31 +209,47 @@ void strat_event(void *dummy)
        }
 
        /* control the cobboard mode for left spickle */
        }
 
        /* 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);
+       if (lcob_near) {
+               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 {
        }
        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);
+               if (get_cob_count() >= 5 || want_pack)
+                       i2c_cobboard_pack(I2C_LEFT_SIDE);

                else
                        i2c_cobboard_deploy(I2C_LEFT_SIDE);
        }
 
        /* control the cobboard mode for right spickle */
                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);
+       if (rcob_near) {
+               if (get_cob_count() >= 5 || want_pack) {
+                       if (strat_db.corn_table[ridx]->corn.color != I2C_COB_WHITE &&
+                           strat_db.corn_table[ridx]->corn.color != I2C_COB_BLACK)
+                               i2c_cobboard_pack(I2C_RIGHT_SIDE);
+               }
+               else {
+                       if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
+                               i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
+                       else if (strat_db.corn_table[ridx]->corn.color == I2C_COB_BLACK)
+                               i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
+                       else
+                               i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+               }

        }
        else {
        }
        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);
+               if (get_cob_count() >= 5 || want_pack)
+                       i2c_cobboard_pack(I2C_RIGHT_SIDE);

                else
                        i2c_cobboard_deploy(I2C_RIGHT_SIDE);
        }
                else
                        i2c_cobboard_deploy(I2C_RIGHT_SIDE);
        }


@@ -248,32 +271,37 @@ static uint8_t strat_eject(void)
        //XXX return vals
        strat_set_speed(600, SPEED_ANGLE_SLOW);
 
        //XXX return vals
        strat_set_speed(600, SPEED_ANGLE_SLOW);
 

+       want_pack = 1;

        trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
        err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
        trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
        err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);

+
+       /* ball ejection */
+       i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);

        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();
        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);
 
        time_wait_ms(2000);
 

+

        /* half turn */
        /* half turn */

+       strat_event_disable();

        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 */
        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);
+       trajectory_d_rel(&mainboard.traj, -70);

        err = wait_traj_end(END_INTR|END_TRAJ);
        err = wait_traj_end(END_INTR|END_TRAJ);

-       strat_running = ;
+

        i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
        i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);

+       strat_db_dump(__FUNCTION__);

        time_wait_ms(2000);
 
        time_wait_ms(2000);
 

+       strat_event_enable();
+       want_pack = 0;

        return 0;
 }
 
        return 0;
 }
 


@@ -301,11 +329,11 @@ static uint8_t strat_beginning(void)
 
 #if 1
  l1:
 
 #if 1
  l1:

-       DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+       DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());

        if (get_cob_count() >= 5)
                strat_set_speed(600, SPEED_ANGLE_FAST);
 
        if (get_cob_count() >= 5)
                strat_set_speed(600, SPEED_ANGLE_FAST);
 

-       err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
+       err = line2line(0, LINE_UP, 2, LINE_R_DOWN);

        if (!TRAJ_SUCCESS(err)) {
                strat_hardstop();
                time_wait_ms(2000);
        if (!TRAJ_SUCCESS(err)) {
                strat_hardstop();
                time_wait_ms(2000);


@@ -313,11 +341,11 @@ static uint8_t strat_beginning(void)
        }
 
  l2:
        }
 
  l2:

-       DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+       DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());

        if (get_cob_count() >= 5)
                strat_set_speed(600, SPEED_ANGLE_FAST);
 
        if (get_cob_count() >= 5)
                strat_set_speed(600, SPEED_ANGLE_FAST);
 

-       err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
+       err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP);

        if (!TRAJ_SUCCESS(err)) {
                strat_hardstop();
                time_wait_ms(2000);
        if (!TRAJ_SUCCESS(err)) {
                strat_hardstop();
                time_wait_ms(2000);


@@ -325,16 +353,22 @@ static uint8_t strat_beginning(void)
        }
 
 #else
        }
 
 #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);
+/*     strat_set_speed(600, SPEED_ANGLE_FAST); */
+/*     err = line2line(0, LINE_UP, 3, LINE_R_DOWN); */
+/*     err = line2line(3, LINE_R_DOWN, 2, LINE_R_UP); */
+/*     err = line2line(2, LINE_R_UP, 2, LINE_R_DOWN); */
+/*     err = line2line(2, LINE_R_DOWN, 3, LINE_R_UP); */
+/*     err = line2line(3, LINE_R_UP, 5, LINE_UP); */
+/*     err = line2line(5, LINE_UP, 2, LINE_L_DOWN); */
+/*     err = line2line(2, LINE_L_DOWN, 1, LINE_L_UP); */
+/*     err = line2line(1, LINE_L_UP, 1, LINE_L_DOWN); */
+/*     err = line2line(1, LINE_L_DOWN, 0, LINE_DOWN); */
+
+       strat_set_speed(300, SPEED_ANGLE_FAST);
+       err = line2line(0, LINE_UP, 0, LINE_R_UP);
+       err = line2line(0, LINE_R_UP, 1, LINE_DOWN);
+       err = line2line(1, LINE_DOWN, 1, LINE_L_DOWN);
+       err = line2line(1, LINE_L_DOWN, 0, LINE_DOWN);

        wait_ms(500);
        strat_hardstop();
        return END_TRAJ;
        wait_ms(500);
        strat_hardstop();
        return END_TRAJ;


@@ -344,12 +378,13 @@ static uint8_t strat_beginning(void)
 
        strat_set_speed(250, SPEED_ANGLE_FAST);
 
 
        strat_set_speed(250, SPEED_ANGLE_FAST);
 

+#if 0

  l4:
  l4:

-       DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+       DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());

        if (get_cob_count() >= 5)
                strat_set_speed(600, SPEED_ANGLE_FAST);
 
        if (get_cob_count() >= 5)
                strat_set_speed(600, SPEED_ANGLE_FAST);
 

-       err = line2line(LINE_DOWN, 5, LINE_L_UP, 2);
+       err = line2line(5, LINE_DOWN, 2, LINE_L_UP);

        if (!TRAJ_SUCCESS(err)) {
                strat_hardstop();
                time_wait_ms(2000);
        if (!TRAJ_SUCCESS(err)) {
                strat_hardstop();
                time_wait_ms(2000);


@@ -357,20 +392,23 @@ static uint8_t strat_beginning(void)
        }
 
  l5:
        }
 
  l5:

-       DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+       DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());

        if (get_cob_count() >= 5)
                strat_set_speed(600, SPEED_ANGLE_FAST);
 
        if (get_cob_count() >= 5)
                strat_set_speed(600, SPEED_ANGLE_FAST);
 

-       err = line2line(LINE_L_UP, 2, LINE_R_UP, 2);
+       err = line2line(2, LINE_L_UP, 2, LINE_R_UP);

        if (!TRAJ_SUCCESS(err)) {
                strat_hardstop();
                time_wait_ms(2000);
                goto l5;
        }
 
        if (!TRAJ_SUCCESS(err)) {
                strat_hardstop();
                time_wait_ms(2000);
                goto l5;
        }
 

-       DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+       DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());

        if (get_cob_count() >= 5)
                strat_set_speed(600, SPEED_ANGLE_FAST);
        if (get_cob_count() >= 5)
                strat_set_speed(600, SPEED_ANGLE_FAST);

+#else
+       strat_harvest_circuit();
+#endif

 
        WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
                              TRAJ_FLAGS_STD);
 
        WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
                              TRAJ_FLAGS_STD);