circuit strat, first version

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

diff --git a/projects/microb2010/mainboard/strat_base.c b/projects/microb2010/mainboard/strat_base.c
index a6724ad..6075271 100644 (file)
--- a/projects/microb2010/mainboard/strat_base.c
+++ b/projects/microb2010/mainboard/strat_base.c
@@ -103,6 +103,8 @@ const char *get_err(uint8_t err)
 
 void strat_hardstop(void)
 {
+       DEBUG(E_USER_STRAT, "strat_hardstop");
+
        trajectory_hardstop(&mainboard.traj);
        pid_reset(&mainboard.angle.pid);
        pid_reset(&mainboard.distance.pid);
@@ -209,6 +211,11 @@ void strat_set_speed(uint16_t d, uint16_t a)
        IRQ_UNLOCK(flags);
 }
 
+void strat_set_acc(double d, double a)
+{
+       trajectory_set_acc(&mainboard.traj, d, a);
+}
+
 void strat_get_speed(uint16_t *d, uint16_t *a)
 {
        uint8_t flags;
@@ -278,13 +285,15 @@ void strat_limit_speed(void)
 /* start the strat */
 void strat_start(void)
 {
-       int8_t i;
        uint8_t err;
 
        strat_preinit();
 
+#ifndef HOST_VERSION
        /* if start sw not plugged */
        if (sensor_get(S_START_SWITCH)) {
+               int8_t i;
+
                printf_P(PSTR("No start switch, press a key or plug it\r\n"));
 
                /* while start sw not plugged */
@@ -306,6 +315,7 @@ void strat_start(void)
                /* while start sw plugged */
                while (!sensor_get(S_START_SWITCH));
        }
+#endif
 
        strat_init();
        err = strat_main();
@@ -316,6 +326,7 @@ void strat_start(void)
 /* return true if we have to brake due to an obstacle */
 uint8_t strat_obstacle(void)
 {
+#if 0
        int16_t x_rel, y_rel;
        int16_t opp_x, opp_y, opp_d, opp_a;
 
@@ -333,6 +344,28 @@ uint8_t strat_obstacle(void)
        opponent_obstacle.y = opp_y;
        opponent_obstacle.d = opp_d;
        opponent_obstacle.a = opp_a;
+#else /* belgium cup only */
+       int16_t x_rel, y_rel;
+       int16_t opp_d, opp_a;
+       double opp_x, opp_y;
+
+#ifdef HOST_VERSION
+       return 0;
+       if (time_get_s() >= 12 && time_get_s() <= 30)
+               return 1;
+#endif
+       return 0; /* XXX disabled */
+
+       if (!sensor_get(S_RCOB_WHITE))
+               return 0;
+
+       opp_a = 0;
+       opp_d = 300;
+
+       rel_da_to_abs_xy(opp_d, RAD(opp_a), &opp_x, &opp_y);
+       if (!is_in_area(opp_x, opp_y, 250))
+               return 0;
+#endif
 
        /* sensor are temporarily disabled */
        if (sensor_obstacle_is_disabled())