X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=0405844d3117ee64ddfb26f848e4fd33e199f385;hp=1585734c9f9439b5cd0a79deeb9b30737b5ce8f7;hb=878d0fc33d940d5d02fc65dfd0e56798c97de18d;hpb=4abb0bf96078e303a8f43a0ba020a1801b908ae4

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 1585734..0405844 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -155,18 +155,33 @@ void strat_exit(void)
 #endif
 }
 
-/* called periodically (10ms) */
-void strat_event(void *dummy)
+/* mark tomato as not present */
+static void check_tomato(void)
+{
+	int16_t x, y;
+	uint8_t i, j;
+
+	x = position_get_x_s16(&mainboard.pos);
+	y = position_get_y_s16(&mainboard.pos);
+
+	if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+		return;
+
+	if (strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
+		return;
+
+	strat_db.wp_table[i][j].present = 0;
+}
+
+/* mark corn as not present and give correct commands to the cobboard
+ * for spickles */
+static void check_corn(void)
 {
 	uint8_t flags;
 	int8_t lcob_near, rcob_near;
 	uint8_t lcob, rcob;
 	uint8_t lidx, ridx;
 
-	/* ignore when strat is not running */
-	if (strat_running == 0)
-		return;
-
 	/* read sensors from ballboard */
 	IRQ_LOCK(flags);
 	lcob = ballboard.lcob;
@@ -188,8 +203,6 @@ void strat_event(void *dummy)
 		cobboard.cob_count = 5;
 	if (time_get_s() == 16)
 		cobboard.cob_count = 0;
-	if (time_get_s() == 25)
-		cobboard.cob_count = 5;
 #endif
 
 	/* detect cob on left side */
@@ -257,9 +270,19 @@ void strat_event(void *dummy)
 		else
 			i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 	}
+}
+
+/* called periodically (10ms) */
+void strat_event(void *dummy)
+{
+	/* ignore when strat is not running */
+	if (strat_running == 0)
+		return;
 
+	check_tomato();
+	check_corn();
 	/* limit speed when opponent is near */
-	strat_limit_speed();
+	//strat_limit_speed();
 }
 
 
@@ -280,7 +303,7 @@ static uint8_t strat_eject(void)
 				    TRAJ_FLAGS_NO_NEAR);
 	if (err == 0) {
 		want_pack = 1;
-		strat_set_speed(600, SPEED_ANGLE_SLOW);
+		strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 		err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 	}
 
@@ -296,7 +319,14 @@ static uint8_t strat_eject(void)
 
 	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 	strat_hardstop();
+#ifdef HOST_VERSION
 	time_wait_ms(2000);
+#else
+	WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
+			     2000);
+	WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
+			     2000);
+#endif
 
 	/* half turn */
 	trajectory_a_rel(&mainboard.traj, COLOR_A(180));
@@ -328,14 +358,11 @@ static uint8_t strat_beginning(void)
 				    TRAJ_FLAGS_STD);
 
 	strat_set_acc(ACC_DIST, ACC_ANGLE);
-	strat_set_speed(250, SPEED_ANGLE_SLOW);
+	strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 
  l1:
 	DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
-	if (get_cob_count() >= 5)
-		strat_set_speed(600, SPEED_ANGLE_FAST);
-
-	err = line2line(0, LINE_UP, 2, LINE_R_DOWN);
+	err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
 	if (!TRAJ_SUCCESS(err)) {
 		strat_hardstop();
 		time_wait_ms(2000);
@@ -344,10 +371,7 @@ static uint8_t strat_beginning(void)
 
  l2:
 	DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
-	if (get_cob_count() >= 5)
-		strat_set_speed(600, SPEED_ANGLE_FAST);
-
-	err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP);
+	err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
 	if (!TRAJ_SUCCESS(err)) {
 		strat_hardstop();
 		time_wait_ms(2000);
@@ -357,7 +381,7 @@ static uint8_t strat_beginning(void)
 	strat_eject();
 
 	while (1) {
-		strat_set_speed(250, SPEED_ANGLE_SLOW);
+		strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 		strat_harvest_circuit();
 		strat_eject();
 	}