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 a6724ad..8716486 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);
@@ -154,6 +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",
@@ -174,14 +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;
 }
 
@@ -209,6 +261,11 @@ 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;
@@ -218,6 +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;
@@ -228,7 +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;
@@ -278,13 +344,15 @@ 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 +374,7 @@ void strat_start(void)
                /* while start sw plugged */
                while (!sensor_get(S_START_SWITCH));
        }
+#endif
 
        strat_init();
        err = strat_main();
@@ -324,8 +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 */
@@ -334,6 +402,9 @@ uint8_t strat_obstacle(void)
        opponent_obstacle.d = opp_d;
        opponent_obstacle.a = opp_a;
 
+       if (!is_in_area(opp_x, opp_y, 250))
+               return 0;
+
        /* sensor are temporarily disabled */
        if (sensor_obstacle_is_disabled())
                return 0;
@@ -343,7 +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 */