code 2010

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

diff --git a/projects/microb2010/mainboard/strat_utils.c b/projects/microb2010/mainboard/strat_utils.c
index 81a12d6..b1bf942 100644 (file)
--- a/projects/microb2010/mainboard/strat_utils.c
+++ b/projects/microb2010/mainboard/strat_utils.c
@@ -30,7 +30,7 @@
 #include <ax12.h>
 #include <uart.h>
 #include <pwm_ng.h>
-#include <time.h>
+#include <clock_time.h>
 #include <spi.h>
 
 #include <pid.h>
@@ -86,18 +86,6 @@ int16_t simple_modulo_360(int16_t a)
        return a;
 }
 
-/** do a modulo 2.pi -> [-Pi,+Pi], knowing that 'a' is in [-3Pi,+3Pi] */  
-double simple_modulo_2pi(double a)
-{
-       if (a < -M_PI) {
-               a += M_2PI;
-       }
-       else if (a > M_PI) {
-               a -= M_2PI;
-       }
-       return a;
-}
-
 /* return the distance to a point in the area */
 int16_t angle_abs_to_rel(int16_t a_abs)
 {
@@ -182,14 +170,6 @@ uint8_t robot_is_in_area(int16_t margin)
                          margin);
 }
 
-/* return true if we are near the disc */
-uint8_t robot_is_near_disc(void)
-{
-       if (distance_from_robot(CENTER_X, CENTER_Y) < DISC_PENTA_DIAG)
-               return 1;
-       return 0;
-}
-
 /* return 1 or 0 depending on which side of a line (y=cste) is the
  * robot. works in red or green color. */
 uint8_t y_is_more_than(int16_t y)
@@ -286,9 +266,10 @@ uint8_t get_opponent_color(void)
 int8_t get_opponent_xy(int16_t *x, int16_t *y)
 {
        uint8_t flags;
+       return -1; // XXX
        IRQ_LOCK(flags);
-       *x = sensorboard.opponent_x;
-       *y = sensorboard.opponent_y;
+/*     *x = ballboard.opponent_x; */
+/*     *y = ballboard.opponent_y; */
        IRQ_UNLOCK(flags);
        if (*x == I2C_OPPONENT_NOT_THERE)
                return -1;
@@ -300,10 +281,11 @@ int8_t get_opponent_da(int16_t *d, int16_t *a)
 {
        uint8_t flags;
        int16_t x_tmp;
+       return -1; // XXX
        IRQ_LOCK(flags);
-       x_tmp = sensorboard.opponent_x;
-       *d = sensorboard.opponent_d;
-       *a = sensorboard.opponent_a;
+/*     x_tmp = ballboard.opponent_x; */
+/*     *d = ballboard.opponent_d; */
+/*     *a = ballboard.opponent_a; */
        IRQ_UNLOCK(flags);
        if (x_tmp == I2C_OPPONENT_NOT_THERE)
                return -1;
@@ -314,100 +296,24 @@ int8_t get_opponent_da(int16_t *d, int16_t *a)
 int8_t get_opponent_xyda(int16_t *x, int16_t *y, int16_t *d, int16_t *a)
 {
        uint8_t flags;
+       return -1; // XXX
        IRQ_LOCK(flags);
-       *x = sensorboard.opponent_x;
-       *y = sensorboard.opponent_y;
-       *d = sensorboard.opponent_d;
-       *a = sensorboard.opponent_a;
+/*     *x = ballboard.opponent_x; */
+/*     *y = ballboard.opponent_y; */
+/*     *d = ballboard.opponent_d; */
+/*     *a = ballboard.opponent_a; */
        IRQ_UNLOCK(flags);
        if (*x == I2C_OPPONENT_NOT_THERE)
                return -1;
        return 0;
 }
-
-uint8_t pump_left1_is_full(void)
-{
-       return !!( (mechboard.column_flags & I2C_MECHBOARD_COLUMN_L1) &&
-                  (sensor_get_adc(ADC_CSENSE3) > I2C_MECHBOARD_CURRENT_COLUMN));
-}
-
-uint8_t pump_left2_is_full(void)
-{
-       return !!( (mechboard.column_flags & I2C_MECHBOARD_COLUMN_L2) &&
-                  (sensor_get_adc(ADC_CSENSE4) > I2C_MECHBOARD_CURRENT_COLUMN));
-}
-
-uint8_t pump_right1_is_full(void)
-{
-       return !!( (mechboard.column_flags & I2C_MECHBOARD_COLUMN_R1) &&
-                  (mechboard.pump_right1_current > I2C_MECHBOARD_CURRENT_COLUMN));
-}
-
-uint8_t pump_right2_is_full(void)
-{
-       return !!( (mechboard.column_flags & I2C_MECHBOARD_COLUMN_R2) &&
-                  (mechboard.pump_right2_current > I2C_MECHBOARD_CURRENT_COLUMN));
-}
-
-/* number of column owned by the robot */
-uint8_t get_column_count_left(void)
-{
-       uint8_t ret = 0;
-       ret += pump_left1_is_full();
-       ret += pump_left2_is_full();
-       return ret;
-}
-
-/* number of column owned by the robot */
-uint8_t get_column_count_right(void)
-{
-       uint8_t ret = 0;
-       ret += pump_right1_is_full();
-       ret += pump_right2_is_full();
-       return ret;
-}
-
-/* number of column owned by the robot */
-uint8_t get_column_count(void)
-{
-       uint8_t ret = 0;
-       ret += pump_left1_is_full();
-       ret += pump_left2_is_full();
-       ret += pump_right1_is_full();
-       ret += pump_right2_is_full();
-       return ret;
-}
-
-uint8_t get_lintel_count(void)
-{
-       return mechboard.lintel_count;
-}
-
-uint8_t get_mechboard_mode(void)
-{
-       return mechboard.mode;
-}
-
-uint8_t get_scanner_status(void)
-{
-       return sensorboard.scan_status;
-}
-
-/* return 0 if timeout, or 1 if cond is true */
-uint8_t wait_scan_done(uint16_t timeout)
-{
-       uint8_t err;
-       err = WAIT_COND_OR_TIMEOUT(get_scanner_status() & I2C_SCAN_DONE, timeout);
-       return err;
-}
-
 uint8_t opponent_is_behind(void)
 {
-       int8_t opp_there;
-       int16_t opp_d, opp_a;
+/*     int8_t opp_there; */
+/*     int16_t opp_d, opp_a; */
 
-       opp_there = get_opponent_da(&opp_d, &opp_a);
-       if (opp_there && (opp_a < 215 && opp_a > 145) && opp_d < 600)
-               return 1;
+/*     opp_there = get_opponent_da(&opp_d, &opp_a); */
+/*     if (opp_there && (opp_a < 215 && opp_a > 145) && opp_d < 600) */
+/*             return 1; */
        return 0;
 }