-/*
+/*
* Copyright Droids, Microb Technology (2009)
- *
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
*
* Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
*
- * Olivier MATZ <zer0@droids-corp.org>
+ * Olivier MATZ <zer0@droids-corp.org>
*/
#include <stdio.h>
#include "i2c_protocol.h"
#include "main.h"
#include "strat.h"
+#include "strat_db.h"
#include "strat_base.h"
+#include "strat_corn.h"
#include "strat_utils.h"
#include "sensor.h"
#include "actuator.h"
#define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
#define COL_SCAN_PRE_MARGIN 250
-struct strat_infos strat_infos = {
- /* conf */
- .conf = {
- .flags = 0,
- },
-
-};
+static uint8_t strat_running = 0;
+struct strat_conf strat_conf;
/*************************************************************/
/*************************************************************/
-void strat_set_bounding_box(void)
-{
- if (get_color() == I2C_COLOR_RED) {
- strat_infos.area_bbox.x1 = 300;
- strat_infos.area_bbox.y1 = 200;
- strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
- strat_infos.area_bbox.y2 = 1800;
- }
- else {
- strat_infos.area_bbox.x1 = 200;
- strat_infos.area_bbox.y1 = 300;
- strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
- strat_infos.area_bbox.y2 = 1900;
- }
-
- polygon_set_boundingbox(strat_infos.area_bbox.x1,
- strat_infos.area_bbox.y1,
- strat_infos.area_bbox.x2,
- strat_infos.area_bbox.y2);
-}
-
/* called before each strat, and before the start switch */
void strat_preinit(void)
{
mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
DO_POS | DO_BD | DO_POWER;
- i2c_cobboard_mode_init();
- strat_dump_conf();
- strat_dump_infos(__FUNCTION__);
+ //i2c_cobboard_mode_init();
+ strat_conf_dump(__FUNCTION__);
+ strat_db_dump(__FUNCTION__);
}
-void strat_dump_conf(void)
+void strat_conf_dump(const char *caller)
{
- if (!strat_infos.dump_enabled)
+ if (!strat_conf.dump_enabled)
return;
printf_P(PSTR("-- conf --\r\n"));
}
-/* display current information about the state of the game */
-void strat_dump_infos(const char *caller)
-{
- if (!strat_infos.dump_enabled)
- return;
-
- printf_P(PSTR("%s() dump strat infos:\r\n"), caller);
-}
-
-/* init current area state before a match. Dump update user conf
- * here */
-void strat_reset_infos(void)
-{
-}
-
/* call it just before launching the strat */
void strat_init(void)
{
- /* XXX init rollers, .. */
- strat_reset_infos();
+#ifdef HOST_VERSION
+ position_set(&mainboard.pos, 298.16,
+ COLOR_Y(308.78), COLOR_A(70.00));
+#endif
/* we consider that the color is correctly set */
-
+ strat_running = 1;
+ strat_db_init();
strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
time_reset();
interrupt_traj_reset();
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
+
/* used in strat_base for END_TIMER */
- mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
+ mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
DO_POS | DO_BD | DO_TIMER | DO_POWER;
}
/* call it after each strat */
void strat_exit(void)
{
+#ifndef HOST_VERSION
uint8_t flags;
+#endif
+ strat_running = 0;
mainboard.flags &= ~(DO_TIMER);
strat_hardstop();
time_reset();
- wait_ms(1000);
+ wait_ms(100);
+#ifndef HOST_VERSION
IRQ_LOCK(flags);
mainboard.flags &= ~(DO_CS);
+ IRQ_UNLOCK(flags);
pwm_ng_set(LEFT_PWM, 0);
pwm_ng_set(RIGHT_PWM, 0);
- IRQ_UNLOCK(flags);
+#endif
}
-/* called periodically */
+/* called periodically (10ms) */
void strat_event(void *dummy)
{
+ uint8_t flags;
+ uint8_t lcob, rcob;
+ uint8_t lidx, ridx;
+
+ /* ignore when strat is not running */
+ if (strat_running == 0)
+ return;
+
+ IRQ_LOCK(flags);
+ lcob = ballboard.lcob;
+ ballboard.lcob = I2C_COB_NONE;
+ rcob = ballboard.rcob;
+ ballboard.rcob = I2C_COB_NONE;
+ IRQ_UNLOCK(flags);
+
+ /* 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 (lcob != I2C_COB_NONE) {
+ corn_set_color(strat_db.corn_table[lidx], lcob);
+ DEBUG(E_USER_STRAT, "lcob %s %d",
+ lcob == I2C_COB_WHITE ? "white" : "black", lidx);
+ }
+ if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
+ i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
+ else
+ i2c_cobboard_deploy(I2C_LEFT_SIDE);
+ }
+ else {
+ i2c_cobboard_deploy(I2C_LEFT_SIDE);
+ }
+
+ /* detect cob on right side */
+ if (corn_is_near(&ridx, I2C_RIGHT_SIDE)) {
+ if (rcob != I2C_COB_NONE) {
+ corn_set_color(strat_db.corn_table[ridx], rcob);
+ DEBUG(E_USER_STRAT, "rcob %s %d",
+ rcob == I2C_COB_WHITE ? "white" : "black", ridx);
+ }
+ if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
+ i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
+ else
+ i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+ }
+ else {
+ i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+ }
+
+
/* limit speed when opponent is close */
strat_limit_speed();
}
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 */
+
+ 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);
+
+#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)) {
+ 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)) {
+ strat_hardstop();
+ time_wait_ms(2000);
+ goto l2;
+ }
+
+ 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);
+
+#else
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+ err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
+ err = line2line(LINE_R_DOWN, 3, LINE_R_UP, 2);
+ err = line2line(LINE_R_UP, 2, LINE_R_DOWN, 2);
+ err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 3);
+ err = line2line(LINE_R_UP, 3, LINE_UP, 5);
+ err = line2line(LINE_UP, 5, LINE_L_DOWN, 2);
+ err = line2line(LINE_L_DOWN, 2, LINE_L_UP, 1);
+ err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
+ err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
+ wait_ms(500);
+ strat_hardstop();
+ return END_TRAJ;
+#endif
+
+ 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));
+ 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));
+ 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);
+
return END_TRAJ;
}
} while (0)
+/* return true if we need to grab some more elements */
+static uint8_t need_more_elements(void)
+{
+ if (time_get_s() <= 75) {
+ /* we have enough time left */
+ if (get_ball_count() >= 4)
+ return 0;
+ if (get_cob_count() >= 4)
+ return 0;
+ if ((get_ball_count() >= 2) &&
+ (get_cob_count() >= 2))
+ return 0;
+ return 1;
+ }
+ else {
+ /* not much time remaining */
+ if ((get_ball_count() >= 1) &&
+ (get_cob_count() >= 1))
+ return 0;
+ return 1;
+ }
+}
+
+static uint8_t strat_harvest(void)
+{
+ return 0;
+}
+
+static uint8_t strat_eject(void)
+{
+ return 0;
+}
+
uint8_t strat_main(void)
{
uint8_t err;
- /* do static cols + first temple */
+ /* harvest the first cobs + balls */
err = strat_beginning();
+ while (1) {
+ /* end of time exit ! */
+ if (err == END_TIMER) {
+ DEBUG(E_USER_STRAT, "End of time");
+ strat_exit();
+ break;
+ }
+
+ if (need_more_elements() == 0) {
+ /* we have enough elements, go to eject */
+ err = strat_eject();
+ if (!TRAJ_SUCCESS(err))
+ continue;
+ }
+ else {
+ /* harvest */
+ err = strat_harvest();
+ if (!TRAJ_SUCCESS(err))
+ continue;
+ }
+ }
+
return err;
}
git.droids-corp.org / aversive.git / blobdiff