/* XXX take opponent position into account */
+#ifdef HOST_VERSION
+ if (time_get_s() == 15)
+ 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 */
if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
#if 1
l1:
+ DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
if (get_cob_count() >= 5)
strat_set_speed(600, SPEED_ANGLE_FAST);
err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
if (!TRAJ_SUCCESS(err)) {
- trajectory_hardstop(&mainboard.traj);
+ strat_hardstop();
time_wait_ms(2000);
goto l1;
}
l2:
+ DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
if (get_cob_count() >= 5)
strat_set_speed(600, SPEED_ANGLE_FAST);
err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
if (!TRAJ_SUCCESS(err)) {
- trajectory_hardstop(&mainboard.traj);
+ strat_hardstop();
time_wait_ms(2000);
goto l2;
}
- l3:
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
+ WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
+ TRAJ_FLAGS_STD);
+ trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+ err = wait_traj_end(END_INTR|END_TRAJ);
- err = line2line(LINE_R_UP, 2, LINE_UP, 5);
- if (!TRAJ_SUCCESS(err)) {
- trajectory_hardstop(&mainboard.traj);
- time_wait_ms(2000);
- goto l3;
- }
#else
strat_set_speed(600, SPEED_ANGLE_FAST);
err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
wait_ms(500);
- trajectory_hardstop(&mainboard.traj);
+ strat_hardstop();
return END_TRAJ;
#endif
- trajectory_hardstop(&mainboard.traj);
+ DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+ strat_hardstop();
+ strat_set_speed(600, SPEED_ANGLE_FAST);
/* ball ejection */
trajectory_a_abs(&mainboard.traj, COLOR_A(90));
time_wait_ms(2000);
/* half turn */
+ i2c_cobboard_pack(I2C_LEFT_SIDE);
+ i2c_cobboard_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_set_mode(I2C_COBBOARD_MODE_EJECT);
+ time_wait_ms(2000);
+
+ strat_set_speed(250, SPEED_ANGLE_FAST);
+
+ l4:
+ DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+ if (get_cob_count() >= 5)
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+
+ err = line2line(LINE_DOWN, 5, LINE_L_UP, 2);
+ if (!TRAJ_SUCCESS(err)) {
+ strat_hardstop();
+ time_wait_ms(2000);
+ goto l4;
+ }
+
+ l5:
+ DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+ if (get_cob_count() >= 5)
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+
+ err = line2line(LINE_L_UP, 2, LINE_R_UP, 2);
+ if (!TRAJ_SUCCESS(err)) {
+ strat_hardstop();
+ time_wait_ms(2000);
+ goto l5;
+ }
+
+ DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+ if (get_cob_count() >= 5)
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+
+ WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
+ TRAJ_FLAGS_STD);
trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
err = wait_traj_end(END_INTR|END_TRAJ);
+
+ DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+ strat_hardstop();
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+
+ /* ball ejection */
+ trajectory_a_abs(&mainboard.traj, COLOR_A(90));
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+ time_wait_ms(2000);
+
+ /* half turn */
i2c_cobboard_pack(I2C_LEFT_SIDE);
i2c_cobboard_pack(I2C_RIGHT_SIDE);
trajectory_a_rel(&mainboard.traj, COLOR_A(180));
i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
time_wait_ms(2000);
- trajectory_hardstop(&mainboard.traj);
return END_TRAJ;
}