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 */
#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;
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();
}