#define _STRAT_H_
/* convert coords according to our color */
-#define COLOR_Y(y) ((mainboard.our_color==I2C_COLOR_RED)? (y) : (AREA_Y-(y)))
-#define COLOR_A(a) ((mainboard.our_color==I2C_COLOR_RED)? (a) : (-a))
-#define COLOR_SIGN(x) ((mainboard.our_color==I2C_COLOR_RED)? (x) : (-x))
-#define COLOR_INVERT(x) ((mainboard.our_color==I2C_COLOR_RED)? (x) : (!x))
+#define COLOR_Y(y) ((mainboard.our_color==I2C_COLOR_YELLOW)? (y) : (AREA_Y-(y)))
+#define COLOR_A(a) ((mainboard.our_color==I2C_COLOR_YELLOW)? (a) : (-a))
+#define COLOR_SIGN(x) ((mainboard.our_color==I2C_COLOR_YELLOW)? (x) : (-x))
+#define COLOR_INVERT(x) ((mainboard.our_color==I2C_COLOR_YELLOW)? (x) : (!x))
/* area */
#define AREA_X 3000
#define CORNER_X 3000
#define CORNER_Y COLOR_Y(2100)
-/*
- * /- line 0
- * | /- line 1
- * | | /- line 2
- * | | |
- * +---C1--------------------------C1---+
- * | z0a z1 z0b |
- * | . |
- * | . |
- * C3 0 1 2 ^ C3
- * y | 3 4 5 < > |
- * C2 6 7 8 v C2
- * |------ 9 10 11 . ------|
- * | | . | |
- * | red | . |green|
- * +-----+--L1--L2-------L2--L1---+-----+
- * x
- */
-
-/* static columns */
-#define LINE0_X 600
-#define LINE1_X 850
-#define LINE2_X 1100
-
-#define COL0_X 600
-#define COL0_Y COLOR_Y(1175)
-#define COL1_X 850
-#define COL1_Y COLOR_Y(1175)
-#define COL2_X 1100
-#define COL2_Y COLOR_Y(1175)
-
-#define COL3_X 600
-#define COL3_Y COLOR_Y(975)
-#define COL4_X 850
-#define COL4_Y COLOR_Y(975)
-#define COL5_X 1100
-#define COL5_Y COLOR_Y(975)
-
-#define COL6_X 600
-#define COL6_Y COLOR_Y(775)
-#define COL7_X 850
-#define COL7_Y COLOR_Y(775)
-#define COL8_X 1100
-#define COL8_Y COLOR_Y(775)
+/* XXX these offset are not related to corn, but to waypoints */
+#define OFFSET_CORN_X 150
+#define OFFSET_CORN_Y 222
+#define STEP_CORN_X 225
+#define STEP_CORN_Y 250
-#define COL9_X 600
-#define COL9_Y COLOR_Y(575)
-#define COL10_X 850
-#define COL10_Y COLOR_Y(575)
-#define COL11_X 1100
-#define COL11_Y COLOR_Y(575)
+#define CORN_NB 18
+#define TOMATO_NB 14
-/* distance to go backward before pickup in dispenser */
-#define DIST_BACK_DISPENSER 35
+#define WAYPOINTS_NBX 13
+#define WAYPOINTS_NBY 8
-/* diag of the pentagon (pentacle ?) */
-#define DISC_PENTA_DIAG 530
-
-#define COL_DISP_MAX_TRIES 5
-#define LIN_DISP_MAX_TRIES 3
+/*
+ * Corn position and lines
+ *
+ * vertical lines
+ * O 1 2 3 4 5
+ * 2100 +-----|-----|-----|-----|-----|-----|-----+
+ * | c5 c9 c14 |
+ * | c2 c7 c11 c17 | diag
+ * | c4 c8 c13 | lines
+ * 0/ c1 c6 c10 c16 \0
+ * y | c3 c12 |
+ * 1/ c0 c15 \1
+ * |-----+ +-----|
+ * 2/ | | \2
+ * | | | |
+ * 0 +-----+-----------------------------+-----+
+ * 0 x 3000
+ *
+ * Ball (tomato) and i,j coords (for waypoints)
+ *
+ * 2100 +--0--1--2--3--4--5--6--7--8--9-10-11-12--+
+ * 7 t5 t9 |
+ * 6 t3 t7 t11 |
+ * 5 t1 t4 t8 t13 |
+ * 4 t2 t6 t10 |
+ * y 3 t0 t12 |
+ * 2 |
+ * 1-----+ +-----|
+ * 0 | | |
+ * | | | |
+ * 0 +-----+-----------------------------+-----+
+ * 0 x 3000
+ *
+ */
/* useful traj flags */
#define TRAJ_SUCCESS(f) (f & (END_TRAJ|END_NEAR))
#define TRAJ_FLAGS_NO_NEAR_NO_TIMER (END_TRAJ|END_BLOCKING|END_OBSTACLE|END_INTR)
#define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
+/* default acc */
+#define ACC_DIST 10.
+#define ACC_ANGLE 10.
+
/* default speeds */
-#define SPEED_DIST_FAST 2500
-#define SPEED_ANGLE_FAST 2000
-#define SPEED_DIST_SLOW 1000
-#define SPEED_ANGLE_SLOW 1000
-#define SPEED_DIST_VERY_SLOW 400
-#define SPEED_ANGLE_VERY_SLOW 400
+#define SPEED_DIST_FAST 2500.
+#define SPEED_ANGLE_FAST 2000.
+#define SPEED_DIST_SLOW 1000.
+#define SPEED_ANGLE_SLOW 1000.
+#define SPEED_DIST_VERY_SLOW 400.
+#define SPEED_ANGLE_VERY_SLOW 400.
/* strat infos structures */
+struct strat_conf {
+ uint8_t dump_enabled;
-struct bbox {
- int32_t x1;
- int32_t y1;
- int32_t x2;
- int32_t y2;
-};
-
-struct conf {
-#define STRAT_CONF_ONLY_ONE_ON_DISC 0x01
-#define STRAT_CONF_BYPASS_STATIC2 0x02
-#define STRAT_CONF_TAKE_ONE_LINTEL 0x04
-#define STRAT_CONF_SKIP_WHEN_CHECK_FAILS 0x08
-#define STRAT_CONF_STORE_STATIC2 0x10
-#define STRAT_CONF_BIG_3_TEMPLE 0x20
-#define STRAT_CONF_EARLY_SCAN 0x40
-#define STRAT_CONF_PUSH_OPP_COLS 0x80
- uint8_t flags;
- uint8_t scan_opp_min_time;
- uint8_t delay_between_opp_scan;
- uint8_t scan_our_min_time;
- uint8_t delay_between_our_scan;
- uint8_t wait_opponent;
- uint8_t lintel_min_time;
- int16_t scan_opp_angle;
-};
-
-struct static_columns {
-#define STATIC_COL_LINE0_DONE 0x01
-#define STATIC_COL_LINE1_DONE 0x02
-#define STATIC_COL_LINE2_DONE 0x04
- uint8_t flags;
- uint8_t configuration;
-};
-
-struct column_dispenser {
- int8_t count;
- uint8_t last_try_time;
- uint8_t scan_left;
- int16_t checkpoint_x;
- int16_t checkpoint_y;
- int16_t scan_a;
- int16_t eject_a;
- int16_t pickup_a;
- int16_t recalib_x;
- int16_t recalib_y;
- char *name;
-};
-
-struct lintel_dispenser {
- int8_t count;
- uint8_t last_try_time;
- int16_t x;
- char *name;
-};
-
-struct temple {
-#define TEMPLE_F_VALID 0x01 /* structure is valid */
-#define TEMPLE_F_MONOCOL 0x02 /* temple has only one col */
-#define TEMPLE_F_ON_DISC 0x04 /* temple is on disc (else it's on other zone) */
-#define TEMPLE_F_OPPONENT 0x08 /* temple was originally built by opponent */
-#define TEMPLE_F_LINTEL 0x10 /* lintel on top (don't put another lintel) */
-
- uint8_t flags;
- /* position of the robot when we built it */
- int16_t x;
- int16_t y;
- int16_t a;
-
- /* position of the robot checkpoint */
- int16_t checkpoint_x;
- int16_t checkpoint_y;
-
- /* position and level of each col */
- uint8_t level_l;
- uint8_t dist_l;
- uint8_t angle_l;
-
- uint8_t level_r;
- uint8_t dist_r;
- uint8_t angle_r;
-
-#define TEMPLE_DISABLE_TIME 5
- uint8_t last_try_time;
-
- struct build_zone *zone;
-};
-
-struct build_zone {
-#define ZONE_F_VALID 0x01 /* zone is valid */
-#define ZONE_F_DISC 0x02 /* specific disc zone */
-#define ZONE_F_ZONE1 0x04 /* specific zone 1 */
-#define ZONE_F_ZONE0 0x08 /* specific zone 0 */
-#define ZONE_F_BUSY 0x10 /* this zone is busy */
+#define STRAT_CONF_XXX 0x01
uint8_t flags;
- uint8_t level;
- int16_t checkpoint_x;
- int16_t checkpoint_y;
-
-#define ZONE_DISABLE_TIME 5
- uint8_t last_try_time;
- char *name;
};
-#define MAX_TEMPLE 5
-#define MAX_ZONE 5
-
-/* all infos related to strat */
-struct strat_infos {
- uint8_t dump_enabled;
- struct conf conf;
- struct bbox area_bbox;
- uint8_t taken_lintel;
- uint8_t col_in_boobs;
- uint8_t lazy_pickup_done;
- uint8_t i2c_loaded_skipped;
- struct static_columns s_cols;
- struct column_dispenser c1;
- struct column_dispenser c2;
- struct column_dispenser c3;
- struct lintel_dispenser l1;
- struct lintel_dispenser l2;
- struct build_zone zone_list[MAX_ZONE];
- struct temple temple_list[MAX_TEMPLE];
-};
-extern struct strat_infos strat_infos;
+extern struct strat_conf strat_conf;
/* in strat.c */
-void strat_dump_infos(const char *caller); /* show current known state
- of area */
-void strat_dump_temple(struct temple *temple);
-void strat_dump_conf(void);
+void strat_conf_dump(const char *caller);
void strat_reset_infos(void); /* reset current known state */
void strat_preinit(void);
void strat_init(void);
uint8_t strat_main(void);
void strat_event(void *dummy);
-/* in strat_static_columns.c */
-uint8_t strat_static_columns(uint8_t configuration);
-uint8_t strat_static_columns_pass2(void);
-
-/* in strat_lintel.c */
-uint8_t strat_goto_lintel_disp(struct lintel_dispenser *disp);
-uint8_t strat_pickup_lintels(void);
-
-/* in strat_column_disp.c */
-uint8_t strat_eject_col(int16_t eject_a, int16_t pickup_a);
-uint8_t strat_pickup_columns(void);
-uint8_t strat_goto_col_disp(struct column_dispenser **disp);
-
-/* in strat_building.c */
-uint8_t strat_goto_disc(int8_t level);
-uint8_t strat_goto_build_zone(struct build_zone *build_zone, uint8_t level);
-uint8_t strat_build_new_temple(struct build_zone *build_zone);
-uint8_t strat_goto_temple(struct temple *temple);
-uint8_t strat_grow_temple(struct temple *temple);
-uint8_t strat_grow_temple_column(struct temple *temple);
-struct temple *strat_get_best_temple(void);
-struct temple *strat_get_our_temple_on_disc(uint8_t valid);
-struct build_zone *strat_get_best_zone(void);
-struct temple *strat_get_free_temple(void);
-
-/* in strat_scan.c */
-struct scan_disc_result;
-void scanner_dump_state(void);
-int8_t strat_scan_get_checkpoint(uint8_t mode, int16_t *ckpt_rel_x,
- int16_t *ckpt_rel_y, int16_t *back_mm);
-uint8_t strat_scan_disc(int16_t angle, uint8_t mode,
- struct scan_disc_result *result);
-uint8_t strat_goto_disc_angle(int16_t a_deg, int8_t level);
-int16_t strat_get_temple_angle(struct temple *temple);
-int16_t strat_temple_angle_to_scan_angle(int16_t temple_angle);
-uint8_t strat_build_on_opponent_temple(void);
-uint8_t strat_check_temple_and_build(void);
-
#endif
git.droids-corp.org / aversive.git / blobdiff