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cobboard no move mode
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
strat.c
diff --git
a/projects/microb2010/mainboard/strat.c
b/projects/microb2010/mainboard/strat.c
index
423b0f7
..
94b9b6f
100644
(file)
--- a/
projects/microb2010/mainboard/strat.c
+++ b/
projects/microb2010/mainboard/strat.c
@@
-67,7
+67,7
@@
#define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
#define COL_SCAN_PRE_MARGIN 250
#define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
#define COL_SCAN_PRE_MARGIN 250
-static uint8_t strat_running = 0;
+static
volatile
uint8_t strat_running = 0;
struct strat_conf strat_conf;
/*************************************************************/
struct strat_conf strat_conf;
/*************************************************************/
@@
-98,6
+98,16
@@
void strat_conf_dump(const char *caller)
}
}
+void strat_event_enable(void)
+{
+ strat_running = 1;
+}
+
+void strat_event_disable(void)
+{
+ strat_running = 0;
+}
+
/* call it just before launching the strat */
void strat_init(void)
{
/* call it just before launching the strat */
void strat_init(void)
{
@@
-173,11
+183,9
@@
void strat_event(void *dummy)
/* detect cob on left side */
if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
/* detect cob on left side */
if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
- if (lcob != I2C_COB_NONE)
{
+ if (lcob != I2C_COB_NONE)
corn_set_color(strat_db.corn_table[lidx], lcob);
corn_set_color(strat_db.corn_table[lidx], lcob);
- DEBUG(E_USER_STRAT, "lcob %s %d",
- lcob == I2C_COB_WHITE ? "white" : "black", lidx);
- }
+
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_WHITE)
i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
else
@@
-189,11
+197,9
@@
void strat_event(void *dummy)
/* detect cob on right side */
if (corn_is_near(&ridx, I2C_RIGHT_SIDE)) {
/* detect cob on right side */
if (corn_is_near(&ridx, I2C_RIGHT_SIDE)) {
- if (rcob != I2C_COB_NONE)
{
+ if (rcob != I2C_COB_NONE)
corn_set_color(strat_db.corn_table[ridx], rcob);
corn_set_color(strat_db.corn_table[ridx], rcob);
- DEBUG(E_USER_STRAT, "rcob %s %d",
- rcob == I2C_COB_WHITE ? "white" : "black", ridx);
- }
+
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_WHITE)
i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
else
@@
-216,12
+222,18
@@
static uint8_t strat_harvest(void)
static uint8_t strat_eject(void)
{
static uint8_t strat_eject(void)
{
+ uint8_t err;
+
+ //XXX return vals
+ strat_set_speed(600, SPEED_ANGLE_SLOW);
+
trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
- err = wait_traj_end(END_INTR|END_TRAJ);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ 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();
DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
strat_hardstop();
- strat_set_speed(600, SPEED_ANGLE_FAST);
/* ball ejection */
trajectory_a_abs(&mainboard.traj, COLOR_A(90));
/* ball ejection */
trajectory_a_abs(&mainboard.traj, COLOR_A(90));
@@
-263,6
+275,7
@@
static uint8_t strat_beginning(void)
TRAJ_FLAGS_STD);
strat_set_acc(ACC_DIST, ACC_ANGLE);
TRAJ_FLAGS_STD);
strat_set_acc(ACC_DIST, ACC_ANGLE);
+ strat_set_speed(250, SPEED_ANGLE_SLOW);
#if 1
l1:
#if 1
l1: