volatile uint8_t strat_want_pack = 0;
volatile uint8_t strat_lpack60 = 0;
volatile uint8_t strat_rpack60 = 0;
+
+volatile uint8_t strat_opponent_lpack = 0;
+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,
};
DO_POS | DO_BD | DO_POWER;
strat_db_init();
+ strat_conf.prev_wait_obstacle = -5;
strat_conf_dump(__FUNCTION__);
strat_db_dump(__FUNCTION__);
}
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)
uint8_t lidx, ridx;
static uint8_t prev_check_time;
uint8_t cur_time;
+ uint8_t need_lpack, need_rpack;
/* read sensors from ballboard */
IRQ_LOCK(flags);
}
/* control the cobboard mode for left spickle */
+ need_lpack = get_cob_count() >= 5 || strat_want_pack ||
+ strat_lpack60 || strat_opponent_lpack;
if (lcob_near && strat_db.corn_table[lidx]->present) {
- if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60) {
+ if (need_lpack) {
/* nothing */
}
else {
}
else {
/* no cob near us, we can pack or deploy freely */
- if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60)
+ if (need_lpack)
i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
else
i2c_cobboard_deploy(I2C_LEFT_SIDE);
}
/* control the cobboard mode for right spickle */
+ need_rpack = get_cob_count() >= 5 || strat_want_pack ||
+ strat_rpack60 || strat_opponent_rpack;
if (rcob_near && strat_db.corn_table[ridx]->present) {
- if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60) {
+ if (need_rpack) {
/* nothing */
}
else {
}
else {
/* no cob near us, we can pack or deploy freely */
- if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60)
+ if (need_rpack)
i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
else
i2c_cobboard_deploy(I2C_RIGHT_SIDE);
}
}
+/* check opponent position */
+void check_opponent(void)
+{
+ int16_t opp_x, opp_y;
+ int16_t opp_d, opp_a;
+ uint8_t i, j;
+
+ strat_opponent_lpack = 0;
+ strat_opponent_rpack = 0;
+
+ if (get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a) < 0)
+ return;
+
+ /* pack spickles if opponent too close */
+ if (opp_d < 600) {
+ if (opp_a > 45 && opp_a < 135)
+ strat_opponent_lpack = 1;
+ if (opp_a > 225 && opp_a < 315)
+ strat_opponent_rpack = 1;
+ }
+
+ /* check for oranges after 5 seconds */
+ if (time_get_s() > 5) {
+ if (mainboard.our_color == I2C_COLOR_YELLOW) {
+ if (opp_y < 500 && opp_x < 500)
+ strat_db.our_oranges_count = 0;
+ if (opp_y < 500 && opp_x > AREA_X - 500)
+ strat_db.opp_oranges_count = 0;
+ }
+ else {
+ if (opp_y > AREA_Y - 500 && opp_x < 500)
+ strat_db.our_oranges_count = 0;
+ if (opp_y > AREA_Y - 500 && opp_x > AREA_X - 500)
+ strat_db.opp_oranges_count = 0;
+ }
+ }
+
+ /* malus for some tomatoes and cobs, visited by opponent */
+ if (xycoord_to_ijcoord(&opp_x, &opp_y, &i, &j) < 0)
+ return;
+
+ strat_db.wp_table[i][j].opp_visited = 1;
+}
+
/* called periodically (10ms) */
void strat_event(void *dummy)
{
if (strat_running == 0)
return;
+ check_opponent();
check_tomato();
check_corn();
x = position_get_x_s16(&mainboard.pos);
y = position_get_y_s16(&mainboard.pos);
- if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
return 0;
if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
return 0; /* fast */
}
- if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0) {
DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
__FUNCTION__, x, y);
return 1; /* slow */
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;
}
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 { \
x = position_get_x_s16(&mainboard.pos);
y = position_get_y_s16(&mainboard.pos);
- if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
return END_ERROR;
/* not on eject point */
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;
x = position_get_x_s16(&mainboard.pos);
y = position_get_y_s16(&mainboard.pos);
- if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
return END_ERROR;
/* not on eject point */
HILL_POSX_BALLS_DOWN3,
TRAJ_FLAGS_SMALL_DIST);
DEBUG(E_USER_STRAT, "deploy support balls");
- strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
strat_set_acc(ad, aa);
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
support_balls_deploy();
err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
}
/* 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();
git.droids-corp.org / aversive.git / blobdiff