#include "strat_db.h"
#include "strat_base.h"
#include "strat_corn.h"
+#include "strat_avoid.h"
#include "strat_utils.h"
#include "sensor.h"
#include "actuator.h"
+static volatile uint8_t clitoid_slow = 0;
+
/* return 1 if there is a corn near, and fill the index ptr */
int8_t corn_is_near(uint8_t *corn_idx, uint8_t side)
{
return 1;
}
-/*
- * - send the correct commands to the spickles
- * - return 1 if we need to stop (cobboard is stucked)
-*/
-static uint8_t handle_spickles(void)
+/* fill 2 points that are on the line (num, dir) */
+static void num2line(struct line_2pts *l, uint8_t num, uint8_t dir)
{
- return 0;
-#if 0
- int8_t corn_idx;
+ float n = num;
- if (!corn_is_near(&corn_idx, I2C_LEFT_SIDE))
- i2c_cobboard_mode_deploy(I2C_LEFT_SIDE);
- else {
- if (corn_table[corn_idx] == TYPE_WHITE_CORN)
- i2c_cobboard_mode_harvest(I2C_LEFT_SIDE);
+ switch (dir) {
+
+ case LINE_UP:
+ l->p1.x = n * 450 + 375;
+ l->p1.y = COLOR_Y(0);
+ l->p2.x = n * 450 + 375;
+ l->p2.y = COLOR_Y(2100);
+ break;
+ case LINE_DOWN:
+ l->p1.x = n * 450 + 375;
+ l->p1.y = COLOR_Y(2100);
+ l->p2.x = n * 450 + 375;
+ l->p2.y = COLOR_Y(0);
+ break;
+ case LINE_R_UP:
+ l->p1.x = 150;
+ l->p1.y = COLOR_Y(-n * 500 + 1472);
+ l->p2.x = 2850;
+ l->p2.y = COLOR_Y((-n + 4) * 500 + 972);
+ break;
+ case LINE_L_DOWN:
+ l->p1.x = 2850;
+ l->p1.y = COLOR_Y((-n + 4) * 500 + 972);
+ l->p2.x = 150;
+ l->p2.y = COLOR_Y(-n * 500 + 1472);
+ break;
+ case LINE_L_UP:
+ l->p1.x = 2850;
+ l->p1.y = COLOR_Y(-n * 500 + 1472);
+ l->p2.x = 150;
+ l->p2.y = COLOR_Y((-n + 4) * 500 + 972);
+ break;
+ case LINE_R_DOWN:
+ l->p1.x = 150;
+ l->p1.y = COLOR_Y((-n + 4) * 500 + 972);
+ l->p2.x = 2850;
+ l->p2.y = COLOR_Y(-n * 500 + 1472);
+ break;
+ default:
+ break;
+ }
+}
+
+/* return true if we must go slow */
+static uint8_t clitoid_select_speed(uint8_t num1, uint8_t dir1,
+ uint8_t num2, uint8_t dir2)
+{
+ int16_t x, y;
+ uint8_t i, j;
+ uint8_t i2, i3, j2, j3; /* next wp */
+
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
+
+ if (get_cob_count() >= 5)
+ return 0; /* fast */
+
+ if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+ DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
+ __FUNCTION__, x, y);
+ return 1;
+ }
+
+/* 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",
+ __FUNCTION__);
+ return 1;
+ }
+
+ /* 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;
else
- i2c_cobboard_mode_pack(I2C_LEFT_SIDE);
+ return 0;
}
-/* printf("%d %d\n", corn_idx, corn_table[corn_idx]); */
-/* time_wait_ms(100); */
- if (!corn_is_near(&corn_idx, I2C_RIGHT_SIDE))
- i2c_cobboard_mode_deploy(I2C_RIGHT_SIDE);
- else {
- if (corn_table[corn_idx] == TYPE_WHITE_CORN)
- i2c_cobboard_mode_harvest(I2C_RIGHT_SIDE);
+ /* get next point */
+ if (wp_get_neigh(i2, j2, &i3, &j3, dir1) < 0) {
+ DEBUG(E_USER_STRAT, "%s(): cannot get neigh2",
+ __FUNCTION__);
+ return 1;
+ }
+
+ /* 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)
+ return 1;
else
- i2c_cobboard_mode_pack(I2C_RIGHT_SIDE);
+ return 0;
}
+ /* go fast */
return 0;
-#endif
}
-uint8_t line2line(uint8_t dir1, uint8_t num1,
- uint8_t dir2, uint8_t num2)
+/*
+ * handle speed before clitoid (on the line), depending on strat_db.
+ * return true if clitoid started
+ */
+#define NORETURN_DIST 300
+static uint8_t speedify_clitoid(uint8_t num1, uint8_t dir1,
+ uint8_t num2, uint8_t dir2)
+{
+ uint8_t slow;
+ double turnx, turny;
+
+ slow = clitoid_select_speed(num1, dir1, num2, dir2);
+ if (slow != clitoid_slow) {
+ turnx = mainboard.traj.target.line.turn_pt.x;
+ turny = mainboard.traj.target.line.turn_pt.y;
+ if (distance_from_robot(turnx, turny) > NORETURN_DIST) {
+ clitoid_slow = slow;
+ return 1;
+ }
+ }
+
+ return trajectory_get_state(&mainboard.traj) == RUNNING_CLITOID_CURVE;
+}
+
+/* process the clitoid parameters, return 0 on success or -1 if
+ * clitoid cannot be executed. pack_spickles is set to I2C_LEFT_SIDE,
+ * I2C_RIGHT_SIDE or I2C_NO_SIDE to tell if we need to pack a specific
+ * spickle. */
+static int8_t strat_calc_clitoid(uint8_t num1, uint8_t dir1,
+ uint8_t num2, uint8_t dir2,
+ uint8_t *pack_spickles)
{
double line1_a_rad, line1_a_deg, line2_a_rad;
double diff_a_deg, diff_a_deg_abs, beta_deg;
struct line_2pts l1, l2;
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);
+ num2line(&l1, num1, dir1);
+ num2line(&l2, num2, dir2);
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);
/* printf_P(PSTR("diff_a_deg=%2.2f\r\n"), diff_a_deg_abs); */
/* printf_P(PSTR("inter=%2.2f,%2.2f\r\n"), p.x, p.y); */
+ *pack_spickles = I2C_NO_SIDE;
+
+ /* small angle, 60 deg */
if (diff_a_deg_abs < 70.) {
- radius = 200;
- if (diff_a_deg > 0)
- beta_deg = 40;
- else
- beta_deg = -40;
+ radius = 150;
+ if (diff_a_deg > 0) {
+ beta_deg = 0;
+ *pack_spickles = I2C_RIGHT_SIDE;
+ }
+ else {
+ beta_deg = 0;
+ *pack_spickles = I2C_RIGHT_SIDE;
+ }
}
+ /* double 90 deg for half turn -- not used */
else if (diff_a_deg_abs < 100.) {
radius = 100;
if (diff_a_deg > 0)
else
beta_deg = -40;
}
+ /* hard turn, 120 deg */
else {
- radius = 120;
+ radius = 75;
if (diff_a_deg > 0)
- beta_deg = 60;
+ beta_deg = 0;
else
- beta_deg = -60;
+ beta_deg = 0;
}
- /* 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));
- /* disabled */
- if (0) {
- err = 0;
- while (err == 0) {
- err = WAIT_COND_OR_TRAJ_END(handle_spickles(), 0xFF);
- if (err == 0) {
- /* cobboard is stucked */
- trajectory_hardstop(&mainboard.traj);
- return err; /* XXX do something */
- }
- err = test_traj_end(0xFF);
- }
+ clitoid_slow = clitoid_select_speed(num1, dir1, num2, dir2);
+ if (clitoid_slow) {
+ DEBUG(E_USER_STRAT, "slow clito");
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+ }
+ else {
+ DEBUG(E_USER_STRAT, "fast clito");
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
}
- err = WAIT_COND_OR_TRAJ_END(get_cob_count() == 5, 0xFF);
- strat_get_speed(&d_speed, &a_speed);
+ 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));
+ return ret;
+}
- /* 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); */
+/* go from line num1,dir1 to line num2,dir2. Uses trjectory flags
+ * specified as argument and return END_xxx condition */
+uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2,
+ uint8_t dir2, uint8_t flags)
+{
+ int8_t ret;
+ uint8_t err, pack_spickles;
- err = wait_traj_end(0xFF);
+ reprocess:
+ ret = strat_calc_clitoid(num1, dir1, num2, dir2, &pack_spickles);
+ if (ret < 0) {
+ DEBUG(E_USER_STRAT, "clitoid failed");
+ return END_ERROR;
+ }
- return err;
-}
+ /* XXX what to do if cobboard is stucked */
-void num2line(struct line_2pts *l, uint8_t dir, uint8_t num)
-{
- float n = num;
+ /* wait beginning of clitoid or changing of speed */
+ err = WAIT_COND_OR_TRAJ_END(speedify_clitoid(num1, dir1,
+ num2, dir2),
+ flags);
- switch (dir) {
+ /* error during traj, or traj finished */
+ if (err != 0)
+ return err;
- case LINE_UP:
- l->p1.x = n * 450 + 375;
- l->p1.y = COLOR_Y(0);
- l->p2.x = n * 450 + 375;
- l->p2.y = COLOR_Y(2100);
- break;
- case LINE_DOWN:
- l->p1.x = n * 450 + 375;
- l->p1.y = COLOR_Y(2100);
- l->p2.x = n * 450 + 375;
- l->p2.y = COLOR_Y(0);
- break;
- case LINE_R_UP:
- l->p1.x = 150;
- l->p1.y = COLOR_Y(-n * 500 + 1472);
- l->p2.x = 2850;
- l->p2.y = COLOR_Y((-n + 4) * 500 + 972);
- break;
- case LINE_L_DOWN:
- l->p1.x = 2850;
- l->p1.y = COLOR_Y((-n + 4) * 500 + 972);
- l->p2.x = 150;
- l->p2.y = COLOR_Y(-n * 500 + 1472);
- break;
- case LINE_L_UP:
- l->p1.x = 2850;
- l->p1.y = COLOR_Y(-n * 500 + 1472);
- l->p2.x = 150;
- l->p2.y = COLOR_Y((-n + 4) * 500 + 972);
- break;
- case LINE_R_DOWN:
- l->p1.x = 150;
- l->p1.y = COLOR_Y((-n + 4) * 500 + 972);
- l->p2.x = 2850;
- l->p2.y = COLOR_Y(-n * 500 + 1472);
- break;
- default:
- break;
+ /* the speed has to change */
+ if (err == 0 &&
+ trajectory_get_state(&mainboard.traj) != RUNNING_CLITOID_CURVE)
+ goto reprocess;
+
+ DEBUG(E_USER_STRAT, "clitoid started err=%d pack_spickles=%d",
+ err, pack_spickles);
+
+ /* when clitoid starts and angle is 60 deg, pack external
+ * spickle */
+ if (err == 0) {
+ if (pack_spickles == I2C_LEFT_SIDE)
+ strat_lpack60 = 1;
+ else if (pack_spickles == I2C_RIGHT_SIDE)
+ strat_rpack60 = 1;
+
+ /* wait end of clitoid */
+ err = wait_traj_end(flags);
}
+
+ DEBUG(E_USER_STRAT, "clitoid finished, err=%d", err);
+
+ strat_rpack60 = 0;
+ strat_lpack60 = 0;
+ return err;
}
+
git.droids-corp.org / aversive.git / blobdiff