strat db

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 6743d37..a5a952c 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -1,6 +1,6 @@
-/*  
+/*

  *  Copyright Droids, Microb Technology (2009)
  *  Copyright Droids, Microb Technology (2009)

- * 
+ *

  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or


@@ -17,7 +17,7 @@
  *
  *  Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
  *
  *
  *  Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
  *

- *  Olivier MATZ <zer0@droids-corp.org> 
+ *  Olivier MATZ <zer0@droids-corp.org>

  */
 
 #include <stdio.h>
  */
 
 #include <stdio.h>


@@ -57,7 +57,9 @@
 #include "i2c_protocol.h"
 #include "main.h"
 #include "strat.h"
 #include "i2c_protocol.h"
 #include "main.h"
 #include "strat.h"

+#include "strat_db.h"

 #include "strat_base.h"
 #include "strat_base.h"

+#include "strat_corn.h"

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


@@ -65,13 +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
 

-struct strat_infos strat_infos = {
-       /* conf */
-       .conf = {
-               .flags = 0,
-       },
-
-};
+struct strat_conf strat_conf;

 
 /*************************************************************/
 
 
 /*************************************************************/
 


@@ -79,27 +75,6 @@ struct strat_infos strat_infos = {
 
 /*************************************************************/
 
 
 /*************************************************************/
 

-void strat_set_bounding_box(void)
-{
-       if (get_color() == I2C_COLOR_YELLOW) {
-               strat_infos.area_bbox.x1 = 300;
-               strat_infos.area_bbox.y1 = 200;
-               strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
-               strat_infos.area_bbox.y2 = 1800;
-       }
-       else {
-               strat_infos.area_bbox.x1 = 200;
-               strat_infos.area_bbox.y1 = 300;
-               strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
-               strat_infos.area_bbox.y2 = 1900;
-       }
-
-       polygon_set_boundingbox(strat_infos.area_bbox.x1,
-                               strat_infos.area_bbox.y1,
-                               strat_infos.area_bbox.x2,
-                               strat_infos.area_bbox.y2);
-}
-

 /* called before each strat, and before the start switch */
 void strat_preinit(void)
 {
 /* called before each strat, and before the start switch */
 void strat_preinit(void)
 {


@@ -108,40 +83,26 @@ 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_dump_conf();
-       strat_dump_infos(__FUNCTION__);
+       //i2c_cobboard_mode_init();
+       strat_conf_dump(__FUNCTION__);
+       strat_db_dump(__FUNCTION__);

 }
 
 }
 

-void strat_dump_conf(void)
+void strat_conf_dump(const char *caller)

 {
 {

-       if (!strat_infos.dump_enabled)
+       if (!strat_conf.dump_enabled)

                return;
 
        printf_P(PSTR("-- conf --\r\n"));
 
 }
 
                return;
 
        printf_P(PSTR("-- conf --\r\n"));
 
 }
 

-/* display current information about the state of the game */
-void strat_dump_infos(const char *caller)
-{
-       if (!strat_infos.dump_enabled)
-               return;
-
-       printf_P(PSTR("%s() dump strat infos:\r\n"), caller);
-}
-
-/* init current area state before a match. Dump update user conf
- * here */
-void strat_reset_infos(void)
-{
-}
-

 /* call it just before launching the strat */
 void strat_init(void)
 {
        /* XXX init rollers, .. */
 /* call it just before launching the strat */
 void strat_init(void)
 {
        /* XXX init rollers, .. */

-       strat_reset_infos();
+
+       strat_db_init();

 
        /* we consider that the color is correctly set */
 
 
        /* we consider that the color is correctly set */
 


@@ -149,8 +110,12 @@ void strat_init(void)
        time_reset();
        interrupt_traj_reset();
 
        time_reset();
        interrupt_traj_reset();
 

+       i2c_cobboard_mode_harvest(I2C_LEFT_SIDE);
+       i2c_cobboard_mode_harvest(I2C_RIGHT_SIDE);
+       i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
+

        /* used in strat_base for END_TIMER */
        /* used in strat_base for END_TIMER */

-       mainboard.flags = DO_ENCODERS | DO_CS | DO_RS | 
+       mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |

                DO_POS | DO_BD | DO_TIMER | DO_POWER;
 }
 
                DO_POS | DO_BD | DO_TIMER | DO_POWER;
 }
 


@@ -158,28 +123,93 @@ void strat_init(void)
 /* call it after each strat */
 void strat_exit(void)
 {
 /* call it after each strat */
 void strat_exit(void)
 {

+#ifndef HOST_VERSION

        uint8_t flags;
        uint8_t flags;

+#endif

 
        mainboard.flags &= ~(DO_TIMER);
        strat_hardstop();
        time_reset();
 
        mainboard.flags &= ~(DO_TIMER);
        strat_hardstop();
        time_reset();

-       wait_ms(1000);
+       wait_ms(100);
+#ifndef HOST_VERSION

        IRQ_LOCK(flags);
        mainboard.flags &= ~(DO_CS);
        IRQ_LOCK(flags);
        mainboard.flags &= ~(DO_CS);

+       IRQ_UNLOCK(flags);

        pwm_ng_set(LEFT_PWM, 0);
        pwm_ng_set(RIGHT_PWM, 0);
        pwm_ng_set(LEFT_PWM, 0);
        pwm_ng_set(RIGHT_PWM, 0);

-       IRQ_UNLOCK(flags);
+#endif

 }
 
 /* called periodically */
 void strat_event(void *dummy)
 {
 }
 
 /* called periodically */
 void strat_event(void *dummy)
 {

+#if 0
+       /* pack or deploy spickle */
+       if (strat_infos.status.flags & STRAT_STATUS_LHARVEST) {
+               if (sensor_get(S_LCOB_PRESENT)) {
+                       if (sensor_get(S_LCOB_WHITE))
+                               i2c_ballboard_set_mode();
+                       else
+                               ;
+               }
+       }
+#endif

        /* limit speed when opponent is close */
        strat_limit_speed();
 }
 
 static uint8_t strat_beginning(void)
 {
        /* limit speed when opponent is close */
        strat_limit_speed();
 }
 
 static uint8_t strat_beginning(void)
 {

+       uint8_t err;
+
+       strat_set_speed(250, SPEED_ANGLE_FAST);
+
+ l1:
+       err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
+       if (!TRAJ_SUCCESS(err)) {
+               trajectory_hardstop(&mainboard.traj);
+               time_wait_ms(2000);
+               goto l1;
+       }
+
+ l2:
+       err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
+       if (!TRAJ_SUCCESS(err)) {
+               trajectory_hardstop(&mainboard.traj);
+               time_wait_ms(2000);
+               goto l2;
+       }
+
+ l3:
+       err = line2line(LINE_R_UP, 2, LINE_UP, 5);
+       if (!TRAJ_SUCCESS(err)) {
+               trajectory_hardstop(&mainboard.traj);
+               time_wait_ms(2000);
+               goto l3;
+       }
+
+       trajectory_hardstop(&mainboard.traj);
+
+       /* ball ejection */
+       trajectory_a_abs(&mainboard.traj, COLOR_A(90));
+       i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+       time_wait_ms(2000);
+
+       /* half turn */
+       trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+       err = wait_traj_end(END_INTR|END_TRAJ);
+       i2c_cobboard_mode_pack(I2C_LEFT_SIDE);
+       i2c_cobboard_mode_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);
+       err = wait_traj_end(END_INTR|END_TRAJ);
+       i2c_cobboard_mode_eject();
+       time_wait_ms(2000);
+
+       trajectory_hardstop(&mainboard.traj);

        return END_TRAJ;
 }
 
        return END_TRAJ;
 }
 


@@ -197,7 +227,7 @@ uint8_t strat_main(void)
 {
        uint8_t err;
 
 {
        uint8_t err;
 

-       /* do static cols + first temple */
+       /* */

        err = strat_beginning();
 
        return err;
        err = strat_beginning();
 
        return err;