avant la coupe de belgique

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 1a525e5..c253e5f 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -112,7 +112,7 @@ 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();
+       //i2c_cobboard_mode_init();

        strat_dump_conf();
        strat_dump_infos(__FUNCTION__);
 }
        strat_dump_conf();
        strat_dump_infos(__FUNCTION__);
 }


@@ -155,6 +155,10 @@ 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 */
        mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
                DO_POS | DO_BD | DO_TIMER | DO_POWER;
        /* used in strat_base for END_TIMER */
        mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
                DO_POS | DO_BD | DO_TIMER | DO_POWER;


@@ -197,6 +201,35 @@ void strat_event(void *dummy)
 
 static uint8_t strat_beginning(void)
 {
 
 static uint8_t strat_beginning(void)
 {

+       uint8_t err;
+
+       strat_set_speed(250, SPEED_ANGLE_FAST);
+       //init_corn_table(0, 0);
+
+       err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
+       err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
+       err = line2line(LINE_R_UP, 2, LINE_UP, 5);
+       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);
+

        return END_TRAJ;
 }
 
        return END_TRAJ;
 }