X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_mainboard.c;h=7c42411a5a613bd97bb6c740b7a811f0e29caf42;hp=9f39f8697ed956f6d55d5f2c9c09f7dd6e4e5901;hb=b022f257a5ee568737e1a684a83d0154397fffcb;hpb=ebfaaedd491e61696cc93b353471be15408d23e4 diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c index 9f39f86..7c42411 100644 --- a/projects/microb2010/mainboard/commands_mainboard.c +++ b/projects/microb2010/mainboard/commands_mainboard.c @@ -1,6 +1,6 @@ /* * Copyright Droids Corporation (2009) - * + * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or @@ -17,11 +17,12 @@ * * Revision : $Id: commands_mainboard.c,v 1.9 2009-11-08 17:24:33 zer0 Exp $ * - * Olivier MATZ + * Olivier MATZ */ #include #include +#include #include #include @@ -40,6 +41,8 @@ #include #include #include +#include +#include #include #include #include @@ -63,6 +66,7 @@ #include "strat.h" #include "strat_utils.h" #include "strat_base.h" +#include "strat_corn.h" #include "i2c_protocol.h" #include "actuator.h" @@ -79,29 +83,30 @@ static void cmd_event_parsed(void *parsed_result, void *data) u08 bit=0; struct cmd_event_result * res = parsed_result; - + if (!strcmp_P(res->arg1, PSTR("all"))) { - bit = DO_ENCODERS | DO_CS | DO_RS | DO_POS | - DO_BD | DO_TIMER | DO_POWER; + bit = 0xFF; if (!strcmp_P(res->arg2, PSTR("on"))) mainboard.flags |= bit; else if (!strcmp_P(res->arg2, PSTR("off"))) mainboard.flags &= bit; else { /* show */ - printf_P(PSTR("encoders is %s\r\n"), + printf_P(PSTR("encoders is %s\r\n"), (DO_ENCODERS & mainboard.flags) ? "on":"off"); - printf_P(PSTR("cs is %s\r\n"), + printf_P(PSTR("cs is %s\r\n"), (DO_CS & mainboard.flags) ? "on":"off"); - printf_P(PSTR("rs is %s\r\n"), + printf_P(PSTR("rs is %s\r\n"), (DO_RS & mainboard.flags) ? "on":"off"); - printf_P(PSTR("pos is %s\r\n"), + printf_P(PSTR("pos is %s\r\n"), (DO_POS & mainboard.flags) ? "on":"off"); - printf_P(PSTR("bd is %s\r\n"), + printf_P(PSTR("bd is %s\r\n"), (DO_BD & mainboard.flags) ? "on":"off"); - printf_P(PSTR("timer is %s\r\n"), + printf_P(PSTR("timer is %s\r\n"), (DO_TIMER & mainboard.flags) ? "on":"off"); - printf_P(PSTR("power is %s\r\n"), + printf_P(PSTR("power is %s\r\n"), (DO_POWER & mainboard.flags) ? "on":"off"); + printf_P(PSTR("errblock is %s\r\n"), + (DO_ERRBLOCKING & mainboard.flags) ? "on":"off"); } return; } @@ -124,6 +129,8 @@ static void cmd_event_parsed(void *parsed_result, void *data) } else if (!strcmp_P(res->arg1, PSTR("power"))) bit = DO_POWER; + else if (!strcmp_P(res->arg1, PSTR("errblock"))) + bit = DO_ERRBLOCKING; if (!strcmp_P(res->arg2, PSTR("on"))) mainboard.flags |= bit; @@ -139,13 +146,13 @@ static void cmd_event_parsed(void *parsed_result, void *data) } mainboard.flags &= (~bit); } - printf_P(PSTR("%s is %s\r\n"), res->arg1, + printf_P(PSTR("%s is %s\r\n"), res->arg1, (bit & mainboard.flags) ? "on":"off"); } prog_char str_event_arg0[] = "event"; parse_pgm_token_string_t cmd_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg0, str_event_arg0); -prog_char str_event_arg1[] = "all#encoders#cs#rs#pos#bd#timer#power"; +prog_char str_event_arg1[] = "all#encoders#cs#rs#pos#bd#timer#power#errblock"; parse_pgm_token_string_t cmd_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg1, str_event_arg1); prog_char str_event_arg2[] = "on#off#show"; parse_pgm_token_string_t cmd_event_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg2, str_event_arg2); @@ -156,9 +163,9 @@ parse_pgm_inst_t cmd_event = { .data = NULL, /* 2nd arg of func */ .help_str = help_event, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_event_arg0, - (prog_void *)&cmd_event_arg1, - (prog_void *)&cmd_event_arg2, + (prog_void *)&cmd_event_arg0, + (prog_void *)&cmd_event_arg1, + (prog_void *)&cmd_event_arg2, NULL, }, }; @@ -179,7 +186,7 @@ static void cmd_spi_test_parsed(void * parsed_result, void * data) printf("not implemented\n"); #else uint16_t i = 0, ret = 0, ret2 = 0; - + if (mainboard.flags & DO_ENCODERS) { printf_P(PSTR("Disable encoder event first\r\n")); return; @@ -209,7 +216,7 @@ parse_pgm_inst_t cmd_spi_test = { .data = NULL, /* 2nd arg of func */ .help_str = help_spi_test, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_spi_test_arg0, + (prog_void *)&cmd_spi_test_arg0, NULL, }, }; @@ -249,8 +256,8 @@ parse_pgm_inst_t cmd_opponent = { .data = NULL, /* 2nd arg of func */ .help_str = help_opponent, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_opponent_arg0, - (prog_void *)&cmd_opponent_arg1, + (prog_void *)&cmd_opponent_arg0, + (prog_void *)&cmd_opponent_arg1, NULL, }, }; @@ -267,10 +274,10 @@ parse_pgm_inst_t cmd_opponent_set = { .data = NULL, /* 2nd arg of func */ .help_str = help_opponent_set, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_opponent_arg0, + (prog_void *)&cmd_opponent_arg0, (prog_void *)&cmd_opponent_arg1_set, - (prog_void *)&cmd_opponent_arg2, - (prog_void *)&cmd_opponent_arg3, + (prog_void *)&cmd_opponent_arg2, + (prog_void *)&cmd_opponent_arg3, NULL, }, }; @@ -336,9 +343,9 @@ parse_pgm_inst_t cmd_start = { .data = NULL, /* 2nd arg of func */ .help_str = help_start, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_start_arg0, - (prog_void *)&cmd_start_color, - (prog_void *)&cmd_start_debug, + (prog_void *)&cmd_start_arg0, + (prog_void *)&cmd_start_color, + (prog_void *)&cmd_start_debug, NULL, }, }; @@ -356,7 +363,7 @@ struct cmd_interact_result { static void print_cs(void) { printf_P(PSTR("cons_d=% .8"PRIi32" cons_a=% .8"PRIi32" fil_d=% .8"PRIi32" fil_a=% .8"PRIi32" " - "err_d=% .8"PRIi32" err_a=% .8"PRIi32" out_d=% .8"PRIi32" out_a=% .8"PRIi32"\r\n"), + "err_d=% .8"PRIi32" err_a=% .8"PRIi32" out_d=% .8"PRIi32" out_a=% .8"PRIi32"\r\n"), cs_get_consign(&mainboard.distance.cs), cs_get_consign(&mainboard.angle.cs), cs_get_filtered_consign(&mainboard.distance.cs), @@ -369,7 +376,7 @@ static void print_cs(void) static void print_pos(void) { - printf_P(PSTR("x=% .8d y=% .8d a=% .8d\r\n"), + printf_P(PSTR("x=% .8d y=% .8d a=% .8d\r\n"), position_get_x_s16(&mainboard.pos), position_get_y_s16(&mainboard.pos), position_get_a_deg_s16(&mainboard.pos)); @@ -482,7 +489,7 @@ static void cmd_interact_parsed(void * parsed_result, void * data) wait_ms(10); continue; } - + if (cmd == -1) { switch(c) { case '1': print ^= PRINT_POS; break; @@ -492,7 +499,7 @@ static void cmd_interact_parsed(void * parsed_result, void * data) case '5': print ^= PRINT_TIME; break; case '6': print ^= PRINT_BLOCKING; break; - case 'q': + case 'q': if (mainboard.flags & DO_CS) strat_hardstop(); pwm_set_and_save(LEFT_PWM, 0); @@ -502,21 +509,21 @@ static void cmd_interact_parsed(void * parsed_result, void * data) pwm_set_and_save(LEFT_PWM, 0); pwm_set_and_save(RIGHT_PWM, 0); break; - default: + default: break; } } else { switch(cmd) { - case KEY_UP_ARR: + case KEY_UP_ARR: pwm_set_and_save(LEFT_PWM, 1200); pwm_set_and_save(RIGHT_PWM, 1200); break; - case KEY_LEFT_ARR: + case KEY_LEFT_ARR: pwm_set_and_save(LEFT_PWM, -1200); pwm_set_and_save(RIGHT_PWM, 1200); break; - case KEY_DOWN_ARR: + case KEY_DOWN_ARR: pwm_set_and_save(LEFT_PWM, -1200); pwm_set_and_save(RIGHT_PWM, -1200); break; @@ -539,7 +546,7 @@ parse_pgm_inst_t cmd_interact = { .data = NULL, /* 2nd arg of func */ .help_str = help_interact, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_interact_arg0, + (prog_void *)&cmd_interact_arg0, NULL, }, }; @@ -586,8 +593,8 @@ parse_pgm_inst_t cmd_color = { .data = NULL, /* 2nd arg of func */ .help_str = help_color, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_color_arg0, - (prog_void *)&cmd_color_color, + (prog_void *)&cmd_color_arg0, + (prog_void *)&cmd_color_color, NULL, }, }; @@ -607,11 +614,11 @@ static void cmd_rs_parsed(void *parsed_result, void *data) { // struct cmd_rs_result *res = parsed_result; do { - printf_P(PSTR("angle cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "), + printf_P(PSTR("angle cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "), cs_get_consign(&mainboard.angle.cs), cs_get_filtered_feedback(&mainboard.angle.cs), cs_get_out(&mainboard.angle.cs)); - printf_P(PSTR("distance cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "), + printf_P(PSTR("distance cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "), cs_get_consign(&mainboard.distance.cs), cs_get_filtered_feedback(&mainboard.distance.cs), cs_get_out(&mainboard.distance.cs)); @@ -632,8 +639,8 @@ parse_pgm_inst_t cmd_rs = { .data = NULL, /* 2nd arg of func */ .help_str = help_rs, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_rs_arg0, - (prog_void *)&cmd_rs_arg1, + (prog_void *)&cmd_rs_arg0, + (prog_void *)&cmd_rs_arg1, NULL, }, }; @@ -666,7 +673,7 @@ parse_pgm_inst_t cmd_i2cdebug = { .data = NULL, /* 2nd arg of func */ .help_str = help_i2cdebug, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_i2cdebug_arg0, + (prog_void *)&cmd_i2cdebug_arg0, NULL, }, }; @@ -705,8 +712,8 @@ parse_pgm_inst_t cmd_cobboard_show = { .data = NULL, /* 2nd arg of func */ .help_str = help_cobboard_show, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_cobboard_show_arg0, - (prog_void *)&cmd_cobboard_show_arg1, + (prog_void *)&cmd_cobboard_show_arg0, + (prog_void *)&cmd_cobboard_show_arg1, NULL, }, }; @@ -723,16 +730,12 @@ struct cmd_cobboard_setmode1_result { /* function called when cmd_cobboard_setmode1 is parsed successfully */ static void cmd_cobboard_setmode1_parsed(void *parsed_result, void *data) { -#ifdef HOST_VERSION - printf("not implemented\n"); -#else struct cmd_cobboard_setmode1_result *res = parsed_result; if (!strcmp_P(res->arg1, PSTR("init"))) i2c_cobboard_mode_init(); else if (!strcmp_P(res->arg1, PSTR("eject"))) i2c_cobboard_mode_eject(); -#endif } prog_char str_cobboard_setmode1_arg0[] = "cobboard"; @@ -746,8 +749,8 @@ parse_pgm_inst_t cmd_cobboard_setmode1 = { .data = NULL, /* 2nd arg of func */ .help_str = help_cobboard_setmode1, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_cobboard_setmode1_arg0, - (prog_void *)&cmd_cobboard_setmode1_arg1, + (prog_void *)&cmd_cobboard_setmode1_arg0, + (prog_void *)&cmd_cobboard_setmode1_arg1, NULL, }, }; @@ -765,9 +768,6 @@ struct cmd_cobboard_setmode2_result { /* function called when cmd_cobboard_setmode2 is parsed successfully */ static void cmd_cobboard_setmode2_parsed(void * parsed_result, void * data) { -#ifdef HOST_VERSION - printf("not implemented\n"); -#else struct cmd_cobboard_setmode2_result *res = parsed_result; uint8_t side = I2C_LEFT_SIDE; @@ -782,7 +782,6 @@ static void cmd_cobboard_setmode2_parsed(void * parsed_result, void * data) i2c_cobboard_mode_harvest(side); else if (!strcmp_P(res->arg1, PSTR("pack"))) i2c_cobboard_mode_pack(side); -#endif } prog_char str_cobboard_setmode2_arg0[] = "cobboard"; @@ -798,9 +797,9 @@ parse_pgm_inst_t cmd_cobboard_setmode2 = { .data = NULL, /* 2nd arg of func */ .help_str = help_cobboard_setmode2, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_cobboard_setmode2_arg0, - (prog_void *)&cmd_cobboard_setmode2_arg1, - (prog_void *)&cmd_cobboard_setmode2_arg2, + (prog_void *)&cmd_cobboard_setmode2_arg0, + (prog_void *)&cmd_cobboard_setmode2_arg1, + (prog_void *)&cmd_cobboard_setmode2_arg2, NULL, }, }; @@ -818,13 +817,9 @@ struct cmd_cobboard_setmode3_result { /* function called when cmd_cobboard_setmode3 is parsed successfully */ static void cmd_cobboard_setmode3_parsed(void *parsed_result, void *data) { -#ifdef HOST_VERSION - printf("not implemented\n"); -#else struct cmd_cobboard_setmode3_result *res = parsed_result; if (!strcmp_P(res->arg1, PSTR("xxx"))) printf("faux\r\n"); -#endif } prog_char str_cobboard_setmode3_arg0[] = "cobboard"; @@ -839,9 +834,9 @@ parse_pgm_inst_t cmd_cobboard_setmode3 = { .data = NULL, /* 2nd arg of func */ .help_str = help_cobboard_setmode3, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_cobboard_setmode3_arg0, - (prog_void *)&cmd_cobboard_setmode3_arg1, - (prog_void *)&cmd_cobboard_setmode3_arg2, + (prog_void *)&cmd_cobboard_setmode3_arg0, + (prog_void *)&cmd_cobboard_setmode3_arg1, + (prog_void *)&cmd_cobboard_setmode3_arg2, NULL, }, }; @@ -878,8 +873,8 @@ parse_pgm_inst_t cmd_ballboard_show = { .data = NULL, /* 2nd arg of func */ .help_str = help_ballboard_show, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_ballboard_show_arg0, - (prog_void *)&cmd_ballboard_show_arg1, + (prog_void *)&cmd_ballboard_show_arg0, + (prog_void *)&cmd_ballboard_show_arg1, NULL, }, }; @@ -896,9 +891,6 @@ struct cmd_ballboard_setmode1_result { /* function called when cmd_ballboard_setmode1 is parsed successfully */ static void cmd_ballboard_setmode1_parsed(void *parsed_result, void *data) { -#ifdef HOST_VERSION - printf("not implemented\n"); -#else struct cmd_ballboard_setmode1_result *res = parsed_result; if (!strcmp_P(res->arg1, PSTR("init"))) @@ -911,7 +903,6 @@ static void cmd_ballboard_setmode1_parsed(void *parsed_result, void *data) i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST); /* other commands */ -#endif } prog_char str_ballboard_setmode1_arg0[] = "ballboard"; @@ -925,8 +916,8 @@ parse_pgm_inst_t cmd_ballboard_setmode1 = { .data = NULL, /* 2nd arg of func */ .help_str = help_ballboard_setmode1, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_ballboard_setmode1_arg0, - (prog_void *)&cmd_ballboard_setmode1_arg1, + (prog_void *)&cmd_ballboard_setmode1_arg0, + (prog_void *)&cmd_ballboard_setmode1_arg1, NULL, }, }; @@ -944,9 +935,6 @@ struct cmd_ballboard_setmode2_result { /* function called when cmd_ballboard_setmode2 is parsed successfully */ static void cmd_ballboard_setmode2_parsed(void * parsed_result, void * data) { -#ifdef HOST_VERSION - printf("not implemented\n"); -#else struct cmd_ballboard_setmode2_result *res = parsed_result; uint8_t mode = I2C_BALLBOARD_MODE_INIT; @@ -963,7 +951,6 @@ static void cmd_ballboard_setmode2_parsed(void * parsed_result, void * data) mode = I2C_BALLBOARD_MODE_TAKE_R_FORK; } i2c_ballboard_set_mode(mode); -#endif } prog_char str_ballboard_setmode2_arg0[] = "ballboard"; @@ -979,9 +966,9 @@ parse_pgm_inst_t cmd_ballboard_setmode2 = { .data = NULL, /* 2nd arg of func */ .help_str = help_ballboard_setmode2, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_ballboard_setmode2_arg0, - (prog_void *)&cmd_ballboard_setmode2_arg1, - (prog_void *)&cmd_ballboard_setmode2_arg2, + (prog_void *)&cmd_ballboard_setmode2_arg0, + (prog_void *)&cmd_ballboard_setmode2_arg1, + (prog_void *)&cmd_ballboard_setmode2_arg2, NULL, }, }; @@ -999,13 +986,9 @@ struct cmd_ballboard_setmode3_result { /* function called when cmd_ballboard_setmode3 is parsed successfully */ static void cmd_ballboard_setmode3_parsed(void *parsed_result, void *data) { -#ifdef HOST_VERSION - printf("not implemented\n"); -#else struct cmd_ballboard_setmode3_result *res = parsed_result; if (!strcmp_P(res->arg1, PSTR("xxx"))) printf("faux\r\n"); -#endif } prog_char str_ballboard_setmode3_arg0[] = "ballboard"; @@ -1020,9 +1003,9 @@ parse_pgm_inst_t cmd_ballboard_setmode3 = { .data = NULL, /* 2nd arg of func */ .help_str = help_ballboard_setmode3, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_ballboard_setmode3_arg0, - (prog_void *)&cmd_ballboard_setmode3_arg1, - (prog_void *)&cmd_ballboard_setmode3_arg2, + (prog_void *)&cmd_ballboard_setmode3_arg0, + (prog_void *)&cmd_ballboard_setmode3_arg1, + (prog_void *)&cmd_ballboard_setmode3_arg2, NULL, }, }; @@ -1061,8 +1044,78 @@ parse_pgm_inst_t cmd_servo_balls = { .data = NULL, /* 2nd arg of func */ .help_str = help_servo_balls, .tokens = { /* token list, NULL terminated */ - (prog_void *)&cmd_servo_balls_arg0, - (prog_void *)&cmd_servo_balls_arg1, + (prog_void *)&cmd_servo_balls_arg0, + (prog_void *)&cmd_servo_balls_arg1, + NULL, + }, +}; + +/**********************************************************/ +/* Clitoid */ + +/* this structure is filled when cmd_clitoid is parsed successfully */ +struct cmd_clitoid_result { + fixed_string_t arg0; + float alpha_deg; + float beta_deg; + float R_mm; + float Vd; + float Amax; + float d_inter_mm; +}; + +/* function called when cmd_test is parsed successfully */ +static void cmd_clitoid_parsed(void *parsed_result, void *data) +{ + struct cmd_clitoid_result *res = parsed_result; +/* clitoid(res->alpha_deg, res->beta_deg, res->R_mm, */ +/* res->Vd, res->Amax, res->d_inter_mm); */ + double x = position_get_x_double(&mainboard.pos); + double y = position_get_y_double(&mainboard.pos); + double a = position_get_a_rad_double(&mainboard.pos); + + strat_set_speed(res->Vd, SPEED_ANGLE_FAST); + trajectory_clitoid(&mainboard.traj, x, y, a, 150., + res->alpha_deg, res->beta_deg, res->R_mm, + res->d_inter_mm); +} + +prog_char str_clitoid_arg0[] = "clitoid"; +parse_pgm_token_string_t cmd_clitoid_arg0 = + TOKEN_STRING_INITIALIZER(struct cmd_clitoid_result, + arg0, str_clitoid_arg0); +parse_pgm_token_num_t cmd_clitoid_alpha_deg = + TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result, + alpha_deg, FLOAT); +parse_pgm_token_num_t cmd_clitoid_beta_deg = + TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result, + beta_deg, FLOAT); +parse_pgm_token_num_t cmd_clitoid_R_mm = + TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result, + R_mm, FLOAT); +parse_pgm_token_num_t cmd_clitoid_Vd = + TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result, + Vd, FLOAT); +parse_pgm_token_num_t cmd_clitoid_Amax = + TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result, + Amax, FLOAT); +parse_pgm_token_num_t cmd_clitoid_d_inter_mm = + TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result, + d_inter_mm, FLOAT); + +prog_char help_clitoid[] = "do a clitoid (alpha, beta, R, Vd, Amax, d_inter)"; +parse_pgm_inst_t cmd_clitoid = { + .f = cmd_clitoid_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_clitoid, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_clitoid_arg0, + (prog_void *)&cmd_clitoid_alpha_deg, + (prog_void *)&cmd_clitoid_beta_deg, + (prog_void *)&cmd_clitoid_R_mm, + (prog_void *)&cmd_clitoid_Vd, + (prog_void *)&cmd_clitoid_Amax, + (prog_void *)&cmd_clitoid_d_inter_mm, NULL, }, }; @@ -1074,16 +1127,236 @@ parse_pgm_inst_t cmd_servo_balls = { struct cmd_test_result { fixed_string_t arg0; int32_t radius; + int32_t dist; }; +#define LINE_UP 0 +#define LINE_DOWN 1 +#define LINE_R_UP 2 +#define LINE_L_DOWN 3 +#define LINE_L_UP 4 +#define LINE_R_DOWN 5 + +struct line_2pts { + point_t p1; + point_t p2; +}; + +static void num2line(struct line_2pts *l, uint8_t dir, uint8_t num) +{ + float n = num; + + 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; + } +} + +#if 0 +static void reverse_line(struct line_2pts *l) +{ + point_t tmp; + + tmp.x = l->p1.x; + tmp.y = l->p1.y; + l->p1.x = l->p2.x; + l->p1.y = l->p2.y; + l->p2.x = tmp.x; + l->p2.y = tmp.y; +} +#endif + +/* return 1 if there is a corn near, and fill the index ptr */ +static uint8_t corn_is_near(int8_t *corn_idx, uint8_t side) +{ +#define SENSOR_CORN_DIST 225 +#define SENSOR_CORN_ANGLE 90 + double x = position_get_x_double(&mainboard.pos); + double y = position_get_y_double(&mainboard.pos); + double a_rad = position_get_a_rad_double(&mainboard.pos); + double x_corn, y_corn; + int16_t x_corn_int, y_corn_int; + + if (side == I2C_LEFT_SIDE) { + x_corn = x + cos(a_rad + RAD(SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST; + y_corn = y + sin(a_rad + RAD(SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST; + } + else { + x_corn = x + cos(a_rad + RAD(-SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST; + y_corn = y + sin(a_rad + RAD(-SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST; + } + x_corn_int = x_corn; + y_corn_int = y_corn; + + *corn_idx = xycoord_to_corn_idx(&x_corn_int, &y_corn_int); + if (*corn_idx < 0) + return 0; + 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) +{ + int8_t corn_idx; + + 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); + else + i2c_cobboard_mode_pack(I2C_LEFT_SIDE); + } +/* 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); + else + i2c_cobboard_mode_pack(I2C_RIGHT_SIDE); + } + + return 0; +} + +static void line2line(uint8_t dir1, uint8_t num1, + uint8_t dir2, uint8_t num2) +{ + double line1_a_rad, line1_a_deg, line2_a_rad; + double diff_a_deg, diff_a_deg_abs, beta_deg; + double radius; + struct line_2pts l1, l2; + line_t ll1, ll2; + point_t p; + uint8_t err; + + /* 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); + + /* convert to line eq and find intersection */ + pts2line(&l1.p1, &l1.p2, &ll1); + pts2line(&l2.p1, &l2.p2, &ll2); + intersect_line(&ll1, &ll2, &p); + + line1_a_rad = atan2(l1.p2.y - l1.p1.y, + l1.p2.x - l1.p1.x); + line1_a_deg = DEG(line1_a_rad); + line2_a_rad = atan2(l2.p2.y - l2.p1.y, + l2.p2.x - l2.p1.x); + diff_a_deg = DEG(line2_a_rad - line1_a_rad); + diff_a_deg_abs = fabs(diff_a_deg); + + if (diff_a_deg_abs < 70.) { + radius = 200; + if (diff_a_deg > 0) + beta_deg = 40; + else + beta_deg = -40; + } + else if (diff_a_deg_abs < 100.) { + radius = 100; + if (diff_a_deg > 0) + beta_deg = 40; + else + beta_deg = -40; + } + else { + radius = 120; + if (diff_a_deg > 0) + beta_deg = 60; + else + beta_deg = -60; + } + + 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)); + 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; /* XXX do something */ + } + err = test_traj_end(0xFF); + } + return; +} + /* function called when cmd_test is parsed successfully */ static void cmd_test_parsed(void *parsed_result, void *data) { +#ifdef HOST_VERSION + strat_reset_pos(298.48, 309.21, 70.02); + mainboard.angle.on = 1; + mainboard.distance.on = 1; + strat_set_speed(250, SPEED_ANGLE_FAST); +#endif + init_corn_table(0, 0); + time_wait_ms(100); + + line2line(LINE_UP, 0, LINE_R_DOWN, 2); + line2line(LINE_R_DOWN, 2, LINE_R_UP, 2); + line2line(LINE_R_UP, 2, LINE_UP, 5); + + trajectory_hardstop(&mainboard.traj); } prog_char str_test_arg0[] = "test"; parse_pgm_token_string_t cmd_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0); parse_pgm_token_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, radius, INT32); +parse_pgm_token_num_t cmd_test_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, dist, INT32); prog_char help_test[] = "Test function"; parse_pgm_inst_t cmd_test = { @@ -1092,7 +1365,6 @@ parse_pgm_inst_t cmd_test = { .help_str = help_test, .tokens = { /* token list, NULL terminated */ (prog_void *)&cmd_test_arg0, - (prog_void *)&cmd_test_arg1, NULL, }, };