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 6075271..acded68 100644 (file)
--- a/projects/microb2010/mainboard/strat_base.c
+++ b/projects/microb2010/mainboard/strat_base.c
@@ -225,6 +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;
@@ -235,7 +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;
@@ -326,7 +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;
 
@@ -335,8 +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 */
@@ -344,28 +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
-       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 +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 */