#include "main.h"
#include "strat.h"
#include "strat_base.h"
+#include "strat_corn.h"
#include "strat_utils.h"
#include "sensor.h"
#include "actuator.h"
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__);
}
* 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();
/* we consider that the color is correctly set */
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;
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;
}