lots of work in opponent avoidance and strats

[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 1f5e1d3..c5f0523 100644 (file)
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -168,15 +168,23 @@ static uint8_t clitoid_select_speed(uint8_t num1, uint8_t dir1,
                return 1;
        }
 
-/*     if (time_get_s() > 39) */
-/*             DEBUG(E_USER_STRAT, "i,j = (%d %d), count=%d", i, j, corn_count_neigh(i, j)); */
+/*     if (time_get_s() > 32) */
+/*             DEBUG(E_USER_STRAT, "i,j = (%d %d), count=%d", i, j, */
+/*                   corn_count_neigh(i, j)); */
 
        if (corn_count_neigh(i, j) == 2)
                return 1;
 
+       /* we are on intersection, let's go slow... but as we enter in
+        * the curve-part of the clitoid, we should not go there */
        if (wp_belongs_to_line(i, j, num2, dir2))
                return 0;
 
+       /* we can ge fast if it's a 60deg angle and if we checked the
+        * current point */
+       if (is_60deg(dir1, dir2))
+               return 0;
+
        /* get next point */
        if (wp_get_neigh(i, j, &i2, &j2, dir1) < 0) {
                DEBUG(E_USER_STRAT, "%s(): cannot get neigh1",
@@ -184,7 +192,7 @@ static uint8_t clitoid_select_speed(uint8_t num1, uint8_t dir1,
                return 1;
        }
 
-       /* if (i2, j2) belongs to next line, check corn in opposition */
+       /* if (i2, j2) belongs to next line, check corns */
        if (wp_belongs_to_line(i2, j2, num2, dir2)) {
                if (corn_count_neigh(i2, j2) > 0)
                        return 1;
@@ -199,7 +207,7 @@ static uint8_t clitoid_select_speed(uint8_t num1, uint8_t dir1,
                return 1;
        }
 
-       /* if (i3, j3) belongs to next line, check corn in opposition */
+       /* if (i3, j3) belongs to next line, check corns */
        if (wp_belongs_to_line(i3, j3, num2, dir2)) {
                if (corn_count_neigh(i2, j2) > 0 ||
                    corn_count_neigh(i3, j3) > 0)
@@ -316,15 +324,14 @@ static int8_t strat_calc_clitoid(uint8_t num1, uint8_t dir1,
 
        clitoid_slow = clitoid_select_speed(num1, dir1, num2, dir2);
        if (clitoid_slow) {
-               DEBUG(E_USER_STRAT, "slow clito\n");
+               DEBUG(E_USER_STRAT, "slow clito");
                strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
        }
        else {
-               DEBUG(E_USER_STRAT, "fast clito\n");
+               DEBUG(E_USER_STRAT, "fast clito");
                strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
        }
 
-       /* XXX check return value !! */
        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,
@@ -342,8 +349,10 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2,
 
  reprocess:
        ret = strat_calc_clitoid(num1, dir1, num2, dir2, &pack_spickles);
-       if (ret < 0)
+       if (ret < 0) {
                DEBUG(E_USER_STRAT, "clitoid failed");
+               return END_ERROR;
+       }
 
        /* XXX what to do if cobboard is stucked */
 
@@ -352,8 +361,13 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2,
                                                     num2, dir2),
                                    flags);
 
+       /* error during traj, or traj finished */
+       if (err != 0)
+               return err;
+
        /* the speed has to change */
-       if (trajectory_get_state(&mainboard.traj) != RUNNING_CLITOID_CURVE)
+       if (err == 0 &&
+           trajectory_get_state(&mainboard.traj) != RUNNING_CLITOID_CURVE)
                goto reprocess;
 
        DEBUG(E_USER_STRAT, "clitoid started err=%d pack_spickles=%d",
@@ -371,13 +385,7 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2,
                err = wait_traj_end(flags);
        }
 
-       DEBUG(E_USER_STRAT, "clitoid finished");
-
-       /* 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); */
+       DEBUG(E_USER_STRAT, "clitoid finished, err=%d", err);
 
        strat_rpack60 = 0;
        strat_lpack60 = 0;