oranges and enhance strats

[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 6075271..8716486 100644 (file)
--- a/projects/microb2010/mainboard/strat_base.c
+++ b/projects/microb2010/mainboard/strat_base.c
@@ -156,6 +156,25 @@ void strat_reset_pos(int16_t x, int16_t y, int16_t a)
        if (a == DO_NOT_SET_POS)
                a = posa;
 
+       /* some issues with blocking on simulator */
+#ifdef HOST_VERSION
+       if (x == ROBOT_HALF_LENGTH_REAR)
+               x = ROBOT_HALF_LENGTH_REAR + 10;
+       if (x == AREA_X - ROBOT_HALF_LENGTH_REAR)
+               x = AREA_X - ROBOT_HALF_LENGTH_REAR - 10;
+       if (y == ROBOT_HALF_LENGTH_REAR)
+               y = ROBOT_HALF_LENGTH_REAR + 10;
+       if (y == AREA_Y - ROBOT_HALF_LENGTH_REAR)
+               y = AREA_Y - ROBOT_HALF_LENGTH_REAR - 10;
+       if (x == ROBOT_HALF_LENGTH_FRONT)
+               x = ROBOT_HALF_LENGTH_FRONT + 10;
+       if (x == AREA_X - ROBOT_HALF_LENGTH_FRONT)
+               x = AREA_X - ROBOT_HALF_LENGTH_FRONT - 10;
+       if (y == ROBOT_HALF_LENGTH_FRONT)
+               y = ROBOT_HALF_LENGTH_FRONT + 10;
+       if (y == AREA_Y - ROBOT_HALF_LENGTH_FRONT)
+               y = AREA_Y - ROBOT_HALF_LENGTH_FRONT - 10;
+#endif
        DEBUG(E_USER_STRAT, "reset pos (%s%s%s)",
              x == DO_NOT_SET_POS ? "" : "x",
              y == DO_NOT_SET_POS ? "" : "y",
@@ -176,14 +195,45 @@ uint8_t strat_calib(int16_t dist, uint8_t flags)
        int32_t max_in = pid_get_max_in(&mainboard.angle.pid);
        int32_t max_i = pid_get_max_I(&mainboard.angle.pid);
        int32_t max_out = pid_get_max_out(&mainboard.angle.pid);
+       uint32_t i_thres = mainboard.distance.bd.i_thres;
+       int32_t k1 = mainboard.distance.bd.k1;
+       int32_t k2 = mainboard.distance.bd.k2;
+       uint16_t cpt_thres = mainboard.distance.bd.cpt_thres;
+
        uint8_t err;
 
+       /* go with a lower angle pid, and with a sensible blocking
+        * detection */
+       bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 400000, 20);
        pid_set_maximums(&mainboard.distance.pid, 0, 20000, 1000);
-       pid_set_gains(&mainboard.angle.pid, 200, 0, 2000);
+       pid_set_gains(&mainboard.angle.pid, 500, 10, 4000);
        trajectory_d_rel(&mainboard.traj, dist);
        err = wait_traj_end(flags);
+       if (err != END_BLOCKING)
+               goto fail;
+
+       /* we detected a blocking, reset bd, remove angle pid and
+        * continue */
+       trajectory_d_rel(&mainboard.traj, dist);
+       pid_set_maximums(&mainboard.distance.pid, max_in, max_i, 4095);
+       pid_set_gains(&mainboard.angle.pid, 1, 0, 0);
+       time_wait_ms(300);
+       strat_hardstop();
+
+#ifdef HOST_VERSION
+       /* issue with block on simulator */
+       if (dist > 0)
+               trajectory_d_rel(&mainboard.traj, -10);
+       else
+               trajectory_d_rel(&mainboard.traj, 10);
+       wait_traj_end(END_TRAJ);
+#endif
+
+ fail:
        pid_set_gains(&mainboard.angle.pid, p, i, d);
        pid_set_maximums(&mainboard.distance.pid, max_in, max_i, max_out);
+       bd_set_current_thresholds(&mainboard.distance.bd, k1, k2, i_thres, cpt_thres);
+
        return err;
 }
 
@@ -225,6 +275,15 @@ void strat_get_speed(uint16_t *d, uint16_t *a)
        IRQ_UNLOCK(flags);
 }
 
+void strat_get_acc(double *d, double *a)
+{
+       uint8_t flags;
+       IRQ_LOCK(flags);
+       *d = mainboard.traj.d_acc;
+       *a = mainboard.traj.a_acc;
+       IRQ_UNLOCK(flags);
+}
+
 void strat_limit_speed_enable(void)
 {
        strat_limit_speed_enabled = 1;
@@ -235,7 +294,7 @@ void strat_limit_speed_disable(void)
        strat_limit_speed_enabled = 0;
 }
 
-/* called periodically */
+/* called periodically (note: disabled in 2010) */
 void strat_limit_speed(void)
 {
        uint16_t lim_d = 0, lim_a = 0;
@@ -326,7 +385,6 @@ 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;
 
@@ -335,8 +393,7 @@ uint8_t strat_obstacle(void)
                return 0;
 
        /* no opponent detected */
-       if (get_opponent_xyda(&opp_x, &opp_y,
-                             &opp_d, &opp_a))
+       if (get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a))
                return 0;
 
        /* save obstacle position */
@@ -344,28 +401,9 @@ 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())
@@ -376,7 +414,7 @@ uint8_t strat_obstacle(void)
        y_rel = sin(RAD(opp_a)) * (double)opp_d;
 
        /* opponent too far */
-       if (opp_d > 600)
+       if (opp_d > 500)
                return 0;
 
        /* opponent is in front of us */