circuit strat, first version

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

diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index 31afd43..8f8503f 100644 (file)
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -27,6 +27,7 @@
 #include <math.h>
 
 #include <aversive.h>
+#include <aversive/error.h>
 #include <aversive/pgmspace.h>
 
 #include <ax12.h>
@@ -65,10 +66,10 @@
 #include "sensor.h"
 #include "actuator.h"
 
-#if 0
 /* return 1 if there is a corn near, and fill the index ptr */
-uint8_t corn_is_near(int8_t *corn_idx, uint8_t side)
+int8_t corn_is_near(uint8_t *corn_idx, uint8_t side)
 {
+       /* XXX to be checked */
 #define SENSOR_CORN_DIST  225
 #define SENSOR_CORN_ANGLE 90
        double x = position_get_x_double(&mainboard.pos);
@@ -90,11 +91,11 @@ uint8_t corn_is_near(int8_t *corn_idx, uint8_t side)
        y_corn_int = y_corn;
 
        wp = xycoord_to_corn_idx(&x_corn_int, &y_corn_int);
-       if (wp->corn.idx < 0)
+       if (wp == NULL)
                return 0;
+       *corn_idx = wp->corn.idx;
        return 1;
 }
-#endif
 
 /*
  * - send the correct commands to the spickles
@@ -130,8 +131,8 @@ static uint8_t handle_spickles(void)
 #endif
 }
 
-uint8_t line2line(uint8_t dir1, uint8_t num1,
-                 uint8_t dir2, uint8_t num2)
+uint8_t line2line(uint8_t num1, uint8_t dir1,
+                 uint8_t num2, uint8_t dir2)
 {
        double line1_a_rad, line1_a_deg, line2_a_rad;
        double diff_a_deg, diff_a_deg_abs, beta_deg;
@@ -140,15 +141,17 @@ uint8_t line2line(uint8_t dir1, uint8_t num1,
        line_t ll1, ll2;
        point_t p;
        uint8_t err;
+       uint16_t a_speed, d_speed;
+       int8_t ret;
 
        /* convert to 2 points */
        num2line(&l1, dir1, num1);
        num2line(&l2, dir2, num2);
 
-       printf_P(PSTR("A2 (%2.2f, %2.2f) -> (%2.2f, %2.2f)\r\n"),
-                l1.p1.x, l1.p1.y, l1.p2.x, l1.p2.y);
-       printf_P(PSTR("B2 (%2.2f, %2.2f) -> (%2.2f, %2.2f)\r\n"),
-                l2.p1.x, l2.p1.y, l2.p2.x, l2.p2.y);
+       DEBUG(E_USER_STRAT, "line1: (%2.2f, %2.2f) -> (%2.2f, %2.2f)",
+             l1.p1.x, l1.p1.y, l1.p2.x, l1.p2.y);
+       DEBUG(E_USER_STRAT, "line2: (%2.2f, %2.2f) -> (%2.2f, %2.2f)",
+             l2.p1.x, l2.p1.y, l2.p2.x, l2.p2.y);
 
        /* convert to line eq and find intersection */
        pts2line(&l1.p1, &l1.p2, &ll1);
@@ -195,10 +198,13 @@ uint8_t line2line(uint8_t dir1, uint8_t num1,
        }
 
        /* XXX check return value !! */
-       trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
-                          line1_a_deg, 150., diff_a_deg, beta_deg,
-                          radius, xy_norm(l1.p1.x, l1.p1.y,
-                                          p.x, p.y));
+       ret = trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
+                                line1_a_deg, 150., diff_a_deg, beta_deg,
+                                radius, xy_norm(l1.p1.x, l1.p1.y,
+                                                p.x, p.y));
+       if (ret < 0)
+               DEBUG(E_USER_STRAT, "clitoid failed");
+
        /* disabled */
        if (0) {
                err = 0;
@@ -213,7 +219,17 @@ uint8_t line2line(uint8_t dir1, uint8_t num1,
                }
        }
 
-       err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+       err = WAIT_COND_OR_TRAJ_END(get_cob_count() == 5, 0xFF);
+       strat_get_speed(&d_speed, &a_speed);
+
+       /* XXX 600 -> cste */
+       /* XXX does not work, do better */
+/*     if (err == 0 && d_speed < 600 && */
+/*         mainboard.traj.state == RUNNING_CLITOID_LINE) */
+/*             strat_set_speed(600, SPEED_ANGLE_FAST); */
+
+       err = wait_traj_end(0xFF);
+
        return err;
 }