update and reliabilize 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 1f3b6e5..acded68 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;
@@ -218,6 +225,15 @@ 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 +244,7 @@ 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;
@@ -312,7 +328,6 @@ void strat_start(void)
 
        strat_init();
        err = strat_main();
-       printf("coucou\n");
        NOTICE(E_USER_STRAT, "Finished !! returned %s", get_err(err));
        strat_exit();
 }
@@ -320,7 +335,6 @@ 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;
 
@@ -329,8 +343,7 @@ 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 */
@@ -338,25 +351,9 @@ 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
-       if (time_get_s() >= 12 && time_get_s() <= 30)
-               return 1;
-#endif
-       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())
@@ -367,7 +364,7 @@ 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 */