#define COL_SCAN_PRE_MARGIN 250
static volatile uint8_t strat_running = 0;
-static volatile uint8_t want_pack = 0;
+volatile uint8_t strat_want_pack = 0;
volatile uint8_t strat_lpack60 = 0;
volatile uint8_t strat_rpack60 = 0;
struct strat_conf strat_conf;
#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;
cobboard.cob_count = 5;
if (time_get_s() == 16)
cobboard.cob_count = 0;
- if (time_get_s() == 25)
- cobboard.cob_count = 5;
#endif
/* detect cob on left side */
/* control the cobboard mode for left spickle */
if (lcob_near && strat_db.corn_table[lidx]->present) {
- if (get_cob_count() >= 5 || want_pack || strat_lpack60) {
+ if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60) {
/* nothing */
}
else {
}
else {
/* no cob near us, we can pack or deploy freely */
- if (get_cob_count() >= 5 || want_pack || strat_lpack60)
- i2c_cobboard_pack(I2C_LEFT_SIDE);
+ if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60)
+ i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
else
i2c_cobboard_deploy(I2C_LEFT_SIDE);
}
/* control the cobboard mode for right spickle */
if (rcob_near && strat_db.corn_table[ridx]->present) {
- if (get_cob_count() >= 5 || want_pack || strat_rpack60) {
+ if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60) {
/* nothing */
}
else {
}
else {
/* no cob near us, we can pack or deploy freely */
- if (get_cob_count() >= 5 || want_pack || strat_rpack60)
- i2c_cobboard_pack(I2C_RIGHT_SIDE);
+ if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60)
+ i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
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();
}
-
-static uint8_t strat_harvest(void)
+/* check that we are on an eject line */
+static uint8_t robot_is_on_eject_line(void)
{
- return 0;
+ 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 0;
+
+ if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
+ !wp_belongs_to_line(i, j, 2, LINE_R_UP))
+ return 0;
+
+ return 1;
}
/* must be called from a terminal line */
static uint8_t strat_eject(void)
{
uint8_t err;
- //XXX return vals
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ if (!robot_is_on_eject_line()) {
+ DEBUG(E_USER_STRAT, "%s() not on eject line", __FUNCTION__);
+ return END_ERROR;
+ }
/* go to eject point */
trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5,
TRAJ_FLAGS_NO_NEAR);
+ if (err != 0 && !TRAJ_SUCCESS(err))
+ return err;
+
+ strat_want_pack = 1;
if (err == 0) {
- want_pack = 1;
- strat_set_speed(600, SPEED_ANGLE_SLOW);
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
}
/* pack arms */
strat_event_disable();
- i2c_cobboard_pack(I2C_LEFT_SIDE);
- i2c_cobboard_pack(I2C_RIGHT_SIDE);
+ i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
+ i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
/* ball ejection */
- i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
- trajectory_a_abs(&mainboard.traj, COLOR_A(70));
- err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (get_ball_count() > 0) {
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+ trajectory_a_abs(&mainboard.traj, COLOR_A(70));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
- DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
- strat_hardstop();
- time_wait_ms(2000);
+ DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+ strat_hardstop();
+#ifdef HOST_VERSION
+ time_wait_ms(2000);
+#else
+ WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
+ 2000);
+ WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
+ 2000);
+#endif
+ }
/* half turn */
- trajectory_a_rel(&mainboard.traj, COLOR_A(180));
+ trajectory_a_abs(&mainboard.traj, COLOR_A(-110));
err = wait_traj_end(END_INTR|END_TRAJ);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
/* cob ejection */
trajectory_d_rel(&mainboard.traj, -70);
err = wait_traj_end(END_INTR|END_TRAJ);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
- i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
- strat_db_dump(__FUNCTION__);
- time_wait_ms(2000);
+ if (get_cob_count() > 0) {
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+ strat_db_dump(__FUNCTION__);
+ time_wait_ms(2000);
+ }
+
+ err = END_TRAJ;
+ fail:
strat_event_enable();
- want_pack = 0;
- return 0;
+ strat_want_pack = 0;
+ return err;
}
static uint8_t strat_beginning(void)
strat_set_acc(ACC_DIST, ACC_ANGLE);
strat_set_speed(600, 60); /* OK */
- //strat_set_speed(250, 28); /* OK */
trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
TRAJ_FLAGS_STD);
strat_set_acc(ACC_DIST, ACC_ANGLE);
- strat_set_speed(250, SPEED_ANGLE_SLOW);
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
- l1:
- DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
+ err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ return err;
- err = line2line(0, LINE_UP, 2, LINE_R_DOWN);
+ err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err)) {
- strat_hardstop();
- time_wait_ms(2000);
- goto l1;
- }
-
- l2:
- DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-
- err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP);
- if (!TRAJ_SUCCESS(err)) {
- strat_hardstop();
- time_wait_ms(2000);
- goto l2;
- }
-
- strat_eject();
-
- while (1) {
- strat_set_speed(250, SPEED_ANGLE_SLOW);
- strat_harvest_circuit();
- strat_eject();
+ return err;
}
return END_TRAJ;
} while (0)
+#if 0
/* return true if we need to grab some more elements */
static uint8_t need_more_elements(void)
{
return 1;
}
}
+#endif
uint8_t strat_main(void)
{
/* harvest the first cobs + balls */
err = strat_beginning();
+ if (!TRAJ_SUCCESS(err))
+ strat_unblock();
+ else
+ err = strat_eject();
while (1) {
- /* end of time exit ! */
+
+ /**********************/
+ /* harvest on circuit */
+ /**********************/
+
+ DEBUG(E_USER_STRAT, "start main loop");
+
+ err = strat_harvest_circuit();
if (err == END_TIMER) {
DEBUG(E_USER_STRAT, "End of time");
strat_exit();
break;
}
+ if (!TRAJ_SUCCESS(err)) {
+ strat_unblock();
+ continue;
+ }
+
+ /***********************/
+ /* eject game elements */
+ /***********************/
- if (need_more_elements() == 0) {
- /* we have enough elements, go to eject */
- err = strat_eject();
- if (!TRAJ_SUCCESS(err))
- continue;
+ err = strat_eject();
+ /* end of time exit ! */
+ if (err == END_TIMER) {
+ DEBUG(E_USER_STRAT, "End of time");
+ strat_exit();
+ break;
}
- else {
- /* harvest */
- err = strat_harvest();
- if (!TRAJ_SUCCESS(err))
- continue;
+ if (!TRAJ_SUCCESS(err)) {
+ strat_unblock();
+ continue;
}
}
git.droids-corp.org / aversive.git / blobdiff