weak pack

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index ced55e3..883ce65 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -69,7 +69,7 @@
 #define COL_SCAN_PRE_MARGIN 250
 
 static volatile uint8_t strat_running = 0;
-static volatile uint8_t want_pack = 0;
+volatile uint8_t strat_want_pack = 0;
 volatile uint8_t strat_lpack60 = 0;
 volatile uint8_t strat_rpack60 = 0;
 struct strat_conf strat_conf;
@@ -116,8 +116,8 @@ void strat_event_disable(void)
 void strat_init(void)
 {
 #ifdef HOST_VERSION
-       position_set(&mainboard.pos, 298.16,
-                    COLOR_Y(308.78), COLOR_A(70.00));
+       position_set(&mainboard.pos, 258.,
+                    COLOR_Y(246.), COLOR_A(45.));
 #endif
 
        /* we consider that the color is correctly set */
@@ -155,18 +155,33 @@ void strat_exit(void)
 #endif
 }
 
-/* called periodically (10ms) */
-void strat_event(void *dummy)
+/* mark tomato as not present */
+static void check_tomato(void)
+{
+       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(&x, &y, &i, &j) < 0)
+               return;
+
+       if (strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
+               return;
+
+       strat_db.wp_table[i][j].present = 0;
+}
+
+/* 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;
 
-       /* ignore when strat is not running */
-       if (strat_running == 0)
-               return;
-
        /* read sensors from ballboard */
        IRQ_LOCK(flags);
        lcob = ballboard.lcob;
@@ -210,7 +225,7 @@ void strat_event(void *dummy)
 
        /* control the cobboard mode for left spickle */
        if (lcob_near && strat_db.corn_table[lidx]->present) {
-               if (get_cob_count() >= 5 || want_pack || strat_lpack60) {
+               if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60) {
                        /* nothing  */
                }
                else {
@@ -226,15 +241,15 @@ void strat_event(void *dummy)
        }
        else {
                /* no cob near us, we can pack or deploy freely */
-               if (get_cob_count() >= 5 || want_pack || strat_lpack60)
-                       i2c_cobboard_pack(I2C_LEFT_SIDE);
+               if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60)
+                       i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
                else
                        i2c_cobboard_deploy(I2C_LEFT_SIDE);
        }
 
        /* control the cobboard mode for right spickle */
        if (rcob_near && strat_db.corn_table[ridx]->present) {
-               if (get_cob_count() >= 5 || want_pack || strat_rpack60) {
+               if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60) {
                        /* nothing */
                }
                else {
@@ -250,14 +265,24 @@ void strat_event(void *dummy)
        }
        else {
                /* no cob near us, we can pack or deploy freely */
-               if (get_cob_count() >= 5 || want_pack || strat_rpack60)
-                       i2c_cobboard_pack(I2C_RIGHT_SIDE);
+               if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60)
+                       i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
                else
                        i2c_cobboard_deploy(I2C_RIGHT_SIDE);
        }
+}
+
+/* called periodically (10ms) */
+void strat_event(void *dummy)
+{
+       /* ignore when strat is not running */
+       if (strat_running == 0)
+               return;
 
+       check_tomato();
+       check_corn();
        /* limit speed when opponent is near */
-       strat_limit_speed();
+       //strat_limit_speed();
 }
 
 
@@ -277,7 +302,7 @@ static uint8_t strat_eject(void)
        err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5,
                                    TRAJ_FLAGS_NO_NEAR);
        if (err == 0) {
-               want_pack = 1;
+               strat_want_pack = 1;
                strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
                err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
        }
@@ -294,7 +319,14 @@ static uint8_t strat_eject(void)
 
        DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
        strat_hardstop();
+#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
 
        /* half turn */
        trajectory_a_rel(&mainboard.traj, COLOR_A(180));
@@ -309,7 +341,7 @@ static uint8_t strat_eject(void)
        time_wait_ms(2000);
 
        strat_event_enable();
-       want_pack = 0;
+       strat_want_pack = 0;
        return 0;
 }