better orphan tomato

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 14aaf65..dc59581 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -82,7 +82,7 @@ volatile uint8_t strat_opponent_rpack = 0;
 struct strat_conf strat_conf = {
        .dump_enabled = 0,
        .opp_orange = 90,
-       .orphan_tomato = 50,
+       .orphan_tomato = 45,
        .flags = 0,
 };
 
@@ -101,6 +101,7 @@ void strat_preinit(void)
                DO_POS | DO_BD | DO_POWER;
 
        strat_db_init();
+       strat_conf.prev_wait_obstacle = -5;
        strat_conf_dump(__FUNCTION__);
        strat_db_dump(__FUNCTION__);
 }
@@ -111,10 +112,12 @@ void strat_conf_dump(const char *caller)
                return;
 
        printf_P(PSTR("-- conf --\r\n"));
-       printf_P(PSTR("opp_orange = %d\n"), strat_conf.opp_orange);
-       printf_P(PSTR("orphan_tomato = %d\n"), strat_conf.orphan_tomato);
        printf_P(PSTR("our_orange = %s\n"),
                 (strat_conf.flags & STRAT_CONF_OUR_ORANGE) ? "y":"n");
+       printf_P(PSTR("wait_obstacle = %s\n"),
+                (strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE) ? "y":"n");
+       printf_P(PSTR("opp_orange = %d\n"), strat_conf.opp_orange);
+       printf_P(PSTR("orphan_tomato = %d\n"), strat_conf.orphan_tomato);
 }
 
 void strat_event_enable(void)
@@ -556,11 +559,27 @@ static uint8_t strat_beginning(uint8_t do_initturn)
        strat_set_acc(ACC_DIST, ACC_ANGLE);
        strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 
+ l1:
        err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
+       if (err == END_OBSTACLE &&
+           strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
+           time_get_s() > strat_conf.prev_wait_obstacle + 5) {
+               strat_conf.prev_wait_obstacle = time_get_s();
+               time_wait_ms(2000);
+               goto l1;
+       }
        if (!TRAJ_SUCCESS(err))
                return err;
 
+ l2:
        err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
+       if (err == END_OBSTACLE &&
+           strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
+           time_get_s() > strat_conf.prev_wait_obstacle + 5) {
+               strat_conf.prev_wait_obstacle = time_get_s();
+               time_wait_ms(2000);
+               goto l2;
+       }
        if (!TRAJ_SUCCESS(err)) {
                return err;
        }
@@ -568,6 +587,28 @@ static uint8_t strat_beginning(uint8_t do_initturn)
        return END_TRAJ;
 }
 
+static uint8_t strat_beginning2(uint8_t do_initturn)
+{
+       uint8_t err;
+
+       strat_set_acc(ACC_DIST, ACC_ANGLE);
+
+       if (do_initturn) {
+               strat_set_speed(600, 90); /* OK */
+               trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(-40));
+               err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
+                                           TRAJ_FLAGS_STD);
+               if (err == 0)
+                       return END_TRAJ;
+       }
+       else {
+               trajectory_goto_forward_xy_abs(&mainboard.traj,
+                                              375, COLOR_Y(597));
+               err = wait_traj_end(TRAJ_FLAGS_STD);
+       }
+       return err;
+}
+
 /* dump state (every 5 s max) */
 #define DUMP_RATE_LIMIT(dump, last_print)              \
        do {                                            \
@@ -658,7 +699,7 @@ uint8_t get_opp_oranges(void)
 uint8_t get_orphan_tomatoes(void)
 {
 #define CLITOID_TOMATO_RADIUS 100.
-#define TOMATO_BACK_X 2760
+#define TOMATO_BACK_X 2780
 #define TOMATO_BACK_LEN 200
 
        int16_t x, y, a;
@@ -930,7 +971,10 @@ uint8_t strat_main(void)
        }
 
        /* harvest the first cobs + balls */
-       err = strat_beginning(do_initturn);
+       if (strat_conf.flags & STRAT_CONF_STRAIGHT_BEGIN)
+               err = strat_beginning2(do_initturn);
+       else
+               err = strat_beginning(do_initturn);
 
        if (!TRAJ_SUCCESS(err))
                strat_unblock();