new base mech plate

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index a97ae1a..db2221f 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -116,8 +116,8 @@ void strat_event_disable(void)
 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 */
@@ -155,18 +155,33 @@ void strat_exit(void)
 #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;
@@ -188,8 +203,6 @@ void strat_event(void *dummy)
                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 */
@@ -257,9 +270,19 @@ void strat_event(void *dummy)
                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();
 }
 
 
@@ -280,7 +303,7 @@ static uint8_t strat_eject(void)
                                    TRAJ_FLAGS_NO_NEAR);
        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);
        }
 
@@ -296,7 +319,14 @@ static uint8_t strat_eject(void)
 
        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));
@@ -320,29 +350,18 @@ static uint8_t strat_beginning(void)
        uint8_t err;
 
        strat_set_acc(ACC_DIST, ACC_ANGLE);
-#ifdef HOST_VERSION
-       strat_set_speed(600, SPEED_ANGLE_FAST);
-#else
-       /* 250 */
-       strat_set_speed(250, SPEED_ANGLE_FAST);
-#endif
-
-       strat_set_speed(600, 60); /* OK */
-       //strat_set_speed(250, 28); /* OK */
+       strat_set_speed(400, 150); /* OK */
 
-       trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
+       trajectory_d_a_rel(&mainboard.traj, 800, COLOR_A(45));
        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);
+       err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
        if (!TRAJ_SUCCESS(err)) {
                strat_hardstop();
                time_wait_ms(2000);
@@ -351,10 +370,7 @@ static uint8_t strat_beginning(void)
 
  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);
+       err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
        if (!TRAJ_SUCCESS(err)) {
                strat_hardstop();
                time_wait_ms(2000);
@@ -364,7 +380,7 @@ static uint8_t strat_beginning(void)
        strat_eject();
 
        while (1) {
-               strat_set_speed(250, SPEED_ANGLE_FAST);
+               strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
                strat_harvest_circuit();
                strat_eject();
        }