throttle speed before ejection

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index b49cc7d..9b58196 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -281,59 +281,116 @@ void strat_event(void *dummy)
 
        check_tomato();
        check_corn();
+
        /* limit speed when opponent is near */
+       /* disabled for 2010, we are already slow :) */
        //strat_limit_speed();
 }
 
+/* check that we are on an eject line */
+static uint8_t robot_is_on_eject_line(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 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;
+}
+
+/* 0 = fast, 1 = slow */
+static uint8_t eject_select_speed(void)
+{
+       int16_t x, y;
+       uint8_t i, j;
+
+       x = position_get_x_s16(&mainboard.pos);
+       y = position_get_y_s16(&mainboard.pos);
+
+       if (get_cob_count() >= 5) {
+               strat_want_pack = 1;
+               return 0; /* fast */
+       }
+
+       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+               DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
+                     __FUNCTION__, x, y);
+               return 1; /* slow */
+       }
+
+       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;
+}
 
 /* must be called from a terminal line */
 static uint8_t strat_eject(void)
 {
        uint8_t err;
 
-       /* XXX MUST be a on the line !! */
-       //XXX return vals
-
        DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
 
+       /* 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_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
-       err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5,
+       err = WAIT_COND_OR_TRAJ_END(speedify_eject(),
                                    TRAJ_FLAGS_NO_NEAR);
-       if (err != 0 && !TRAJ_SUCCESS(err))
+       /* err is never == 0 because speedify_eject() always return 0 */
+       if (!TRAJ_SUCCESS(err))
                return err;
 
-       strat_want_pack = 1;
-       if (err == 0) {
-               strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
-               err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
-       }
-
-       /* pack arms */
+       /* pack arms (force), and disable strat_event */
        strat_event_disable();
-       i2c_cobboard_pack(I2C_LEFT_SIDE);
-       i2c_cobboard_pack(I2C_RIGHT_SIDE);
+       i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
+       i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
 
        /* 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);
-       if (!TRAJ_SUCCESS(err))
-               goto fail;
+       if (get_ball_count() > 0) {
+               i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+               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();
+               DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+               strat_hardstop();
 #ifdef HOST_VERSION
-       time_wait_ms(2000);
+               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);
+               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));
+       trajectory_a_abs(&mainboard.traj, COLOR_A(-110));
        err = wait_traj_end(END_INTR|END_TRAJ);
        if (!TRAJ_SUCCESS(err))
                goto fail;
@@ -344,9 +401,11 @@ static uint8_t strat_eject(void)
        if (!TRAJ_SUCCESS(err))
                goto fail;
 
-       i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
-       strat_db_dump(__FUNCTION__);
-       time_wait_ms(2000);
+       if (get_cob_count() > 0) {
+               i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+               strat_db_dump(__FUNCTION__);
+               time_wait_ms(2000);
+       }
 
        err = END_TRAJ;