#include "i2c_protocol.h"
#include "main.h"
#include "strat.h"
+#include "strat_db.h"
#include "strat_base.h"
#include "strat_corn.h"
#include "strat_utils.h"
#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,
- },
- /* status */
- .status = {
- .flags = 0,
- },
-};
+struct strat_conf strat_conf;
/*************************************************************/
/*************************************************************/
-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)
{
DO_POS | DO_BD | DO_POWER;
//i2c_cobboard_mode_init();
- strat_dump_conf();
- strat_dump_infos(__FUNCTION__);
+ 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"));
}
-/* 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)
-{
- init_corn_table(-1, -1);
-}
-
/* 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 */
/* call it after each strat */
void strat_exit(void)
{
+#ifndef HOST_VERSION
uint8_t flags;
+#endif
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_UNLOCK(flags);
pwm_ng_set(LEFT_PWM, 0);
pwm_ng_set(RIGHT_PWM, 0);
- IRQ_UNLOCK(flags);
+#endif
}
/* called periodically */
uint8_t err;
strat_set_speed(250, SPEED_ANGLE_FAST);
- //init_corn_table(0, 0);
+ 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 */
i2c_cobboard_mode_eject();
time_wait_ms(2000);
+ trajectory_hardstop(&mainboard.traj);
return END_TRAJ;
}