X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=0405844d3117ee64ddfb26f848e4fd33e199f385;hp=423b0f7839dab668170ecac697357342ed876a13;hb=878d0fc33d940d5d02fc65dfd0e56798c97de18d;hpb=71deb6e552fcd65c853b35c5206ee47b735f2ff5

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 423b0f7..0405844 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -61,13 +61,17 @@
 #include "strat_base.h"
 #include "strat_corn.h"
 #include "strat_utils.h"
+#include "strat_avoid.h"
 #include "sensor.h"
 #include "actuator.h"
 
 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
 #define COL_SCAN_PRE_MARGIN 250
 
-static uint8_t strat_running = 0;
+static volatile uint8_t strat_running = 0;
+static volatile uint8_t want_pack = 0;
+volatile uint8_t strat_lpack60 = 0;
+volatile uint8_t strat_rpack60 = 0;
 struct strat_conf strat_conf;
 
 /*************************************************************/
@@ -84,7 +88,7 @@ void strat_preinit(void)
 	mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
 		DO_POS | DO_BD | DO_POWER;
 
-	//i2c_cobboard_mode_init();
+	strat_db_init();
 	strat_conf_dump(__FUNCTION__);
 	strat_db_dump(__FUNCTION__);
 }
@@ -98,6 +102,16 @@ void strat_conf_dump(const char *caller)
 
 }
 
+void strat_event_enable(void)
+{
+	strat_running = 1;
+}
+
+void strat_event_disable(void)
+{
+	strat_running = 0;
+}
+
 /* call it just before launching the strat */
 void strat_init(void)
 {
@@ -108,7 +122,6 @@ void strat_init(void)
 
 	/* we consider that the color is correctly set */
 	strat_running = 1;
-	strat_db_init();
 	strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 	time_reset();
 	interrupt_traj_reset();
@@ -142,17 +155,34 @@ 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;
 	ballboard.lcob = I2C_COB_NONE;
@@ -160,6 +190,12 @@ void strat_event(void *dummy)
 	ballboard.rcob = I2C_COB_NONE;
 	IRQ_UNLOCK(flags);
 
+/* 	if (lcob != I2C_COB_NONE) */
+/* 		DEBUG(E_USER_STRAT, "XXX lcob %s", */
+/* 		      lcob == I2C_COB_WHITE ? "white" : "black"); */
+/* 	if (rcob != I2C_COB_NONE) */
+/* 		DEBUG(E_USER_STRAT, "XXX rcob %s", */
+/* 		      rcob == I2C_COB_WHITE ? "white" : "black"); */
 	/* XXX take opponent position into account */
 
 #ifdef HOST_VERSION
@@ -167,45 +203,86 @@ 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 */
-	if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
-		if (lcob != I2C_COB_NONE) {
-			corn_set_color(strat_db.corn_table[lidx], lcob);
+	lcob_near = corn_is_near(&lidx, I2C_LEFT_SIDE);
+	if (lcob_near && lcob != I2C_COB_NONE) {
+		if (strat_db.corn_table[lidx]->corn.color == I2C_COB_UNKNOWN)
 			DEBUG(E_USER_STRAT, "lcob %s %d",
 			      lcob == I2C_COB_WHITE ? "white" : "black", lidx);
-		}
-		if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
-			i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
-		else
-			i2c_cobboard_deploy(I2C_LEFT_SIDE);
-	}
-	else {
-		i2c_cobboard_deploy(I2C_LEFT_SIDE);
+		corn_set_color(strat_db.corn_table[lidx], lcob);
 	}
 
 	/* detect cob on right side */
-	if (corn_is_near(&ridx, I2C_RIGHT_SIDE)) {
-		if (rcob != I2C_COB_NONE) {
-			corn_set_color(strat_db.corn_table[ridx], rcob);
+	rcob_near = corn_is_near(&ridx, I2C_RIGHT_SIDE);
+	if (rcob_near && rcob != I2C_COB_NONE) {
+		if (strat_db.corn_table[ridx]->corn.color == I2C_COB_UNKNOWN)
 			DEBUG(E_USER_STRAT, "rcob %s %d",
 			      rcob == I2C_COB_WHITE ? "white" : "black", ridx);
+		corn_set_color(strat_db.corn_table[ridx], rcob);
+	}
+
+	/* control the cobboard mode for left spickle */
+	if (lcob_near && strat_db.corn_table[lidx]->present) {
+		if (get_cob_count() >= 5 || want_pack || strat_lpack60) {
+			/* nothing  */
 		}
-		if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
-			i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
+		else {
+			/* deploy spickle and harvest white ones */
+			if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE) {
+				i2c_cobboard_autoharvest_nomove(I2C_LEFT_SIDE);
+				if (cobboard.status == I2C_COBBOARD_STATUS_LBUSY)
+					strat_db.corn_table[lidx]->present = 0;
+			}
+			else
+				i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
+		}
+	}
+	else {
+		/* no cob near us, we can pack or deploy freely */
+		if (get_cob_count() >= 5 || want_pack || strat_lpack60)
+			i2c_cobboard_pack(I2C_LEFT_SIDE);
 		else
-			i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+			i2c_cobboard_deploy(I2C_LEFT_SIDE);
+	}
+
+	/* control the cobboard mode for right spickle */
+	if (rcob_near && strat_db.corn_table[ridx]->present) {
+		if (get_cob_count() >= 5 || want_pack || strat_rpack60) {
+			/* nothing */
+		}
+		else {
+			/* deploy spickle and harvest white ones */
+			if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE) {
+				i2c_cobboard_autoharvest_nomove(I2C_RIGHT_SIDE);
+				if (cobboard.status == I2C_COBBOARD_STATUS_RBUSY)
+					strat_db.corn_table[ridx]->present = 0;
+			}
+			else
+				i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
+		}
 	}
 	else {
-		i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+		/* no cob near us, we can pack or deploy freely */
+		if (get_cob_count() >= 5 || want_pack || strat_rpack60)
+			i2c_cobboard_pack(I2C_RIGHT_SIDE);
+		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;
 
-	/* limit speed when opponent is close */
-	strat_limit_speed();
+	check_tomato();
+	check_corn();
+	/* limit speed when opponent is near */
+	//strat_limit_speed();
 }
 
 
@@ -214,32 +291,57 @@ static uint8_t strat_harvest(void)
 	return 0;
 }
 
+/* must be called from a terminal line */
 static uint8_t strat_eject(void)
 {
+	uint8_t err;
+	//XXX return vals
+
+	/* go to eject point */
 	trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
-	err = wait_traj_end(END_INTR|END_TRAJ);
+	err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5,
+				    TRAJ_FLAGS_NO_NEAR);
+	if (err == 0) {
+		want_pack = 1;
+		strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
+		err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+	}
 
-	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
-	strat_hardstop();
-	strat_set_speed(600, SPEED_ANGLE_FAST);
+	/* pack arms */
+	strat_event_disable();
+	i2c_cobboard_pack(I2C_LEFT_SIDE);
+	i2c_cobboard_pack(I2C_RIGHT_SIDE);
 
 	/* ball ejection */
-	trajectory_a_abs(&mainboard.traj, COLOR_A(90));
 	i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+	trajectory_a_abs(&mainboard.traj, COLOR_A(70));
+	err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+	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 */
-	i2c_cobboard_pack(I2C_LEFT_SIDE);
-	i2c_cobboard_pack(I2C_RIGHT_SIDE);
 	trajectory_a_rel(&mainboard.traj, COLOR_A(180));
 	err = wait_traj_end(END_INTR|END_TRAJ);
 
 	/* cob ejection */
-	trajectory_d_rel(&mainboard.traj, -100);
+	trajectory_d_rel(&mainboard.traj, -70);
 	err = wait_traj_end(END_INTR|END_TRAJ);
+
 	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+	strat_db_dump(__FUNCTION__);
 	time_wait_ms(2000);
 
+	strat_event_enable();
+	want_pack = 0;
 	return 0;
 }
 
@@ -248,29 +350,19 @@ static uint8_t strat_beginning(void)
 	uint8_t err;
 
 	strat_set_acc(ACC_DIST, ACC_ANGLE);
-#ifdef HOST_VERSION
-	strat_set_speed(600, SPEED_ANGLE_FAST);
-#else
-	/* 250 */
-	strat_set_speed(250, SPEED_ANGLE_FAST);
-#endif
-
-	// strat_set_speed(600, 60); /* OK */
-	strat_set_speed(250, 28); /* OK */
+	strat_set_speed(600, 60); /* OK */
+	//strat_set_speed(250, 28); /* OK */
 
 	trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
 	err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 				    TRAJ_FLAGS_STD);
 
 	strat_set_acc(ACC_DIST, ACC_ANGLE);
+	strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 
-#if 1
  l1:
-	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
-	if (get_cob_count() >= 5)
-		strat_set_speed(600, SPEED_ANGLE_FAST);
-
-	err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
+	DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
+	err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
 	if (!TRAJ_SUCCESS(err)) {
 		strat_hardstop();
 		time_wait_ms(2000);
@@ -278,69 +370,22 @@ static uint8_t strat_beginning(void)
 	}
 
  l2:
-	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
-	if (get_cob_count() >= 5)
-		strat_set_speed(600, SPEED_ANGLE_FAST);
-
-	err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
+	DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
+	err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
 	if (!TRAJ_SUCCESS(err)) {
 		strat_hardstop();
 		time_wait_ms(2000);
 		goto l2;
 	}
 
-#else
-	strat_set_speed(600, SPEED_ANGLE_FAST);
-	err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
-	err = line2line(LINE_R_DOWN, 3, LINE_R_UP, 2);
-	err = line2line(LINE_R_UP, 2, LINE_R_DOWN, 2);
-	err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 3);
-	err = line2line(LINE_R_UP, 3, LINE_UP, 5);
-	err = line2line(LINE_UP, 5, LINE_L_DOWN, 2);
-	err = line2line(LINE_L_DOWN, 2, LINE_L_UP, 1);
-	err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
-	err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
-	wait_ms(500);
-	strat_hardstop();
-	return END_TRAJ;
-#endif
-
 	strat_eject();
 
-	strat_set_speed(250, SPEED_ANGLE_FAST);
-
- l4:
-	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
-	if (get_cob_count() >= 5)
-		strat_set_speed(600, SPEED_ANGLE_FAST);
-
-	err = line2line(LINE_DOWN, 5, LINE_L_UP, 2);
-	if (!TRAJ_SUCCESS(err)) {
-		strat_hardstop();
-		time_wait_ms(2000);
-		goto l4;
-	}
-
- l5:
-	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
-	if (get_cob_count() >= 5)
-		strat_set_speed(600, SPEED_ANGLE_FAST);
-
-	err = line2line(LINE_L_UP, 2, LINE_R_UP, 2);
-	if (!TRAJ_SUCCESS(err)) {
-		strat_hardstop();
-		time_wait_ms(2000);
-		goto l5;
+	while (1) {
+		strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+		strat_harvest_circuit();
+		strat_eject();
 	}
 
-	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
-	if (get_cob_count() >= 5)
-		strat_set_speed(600, SPEED_ANGLE_FAST);
-
-	WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
-			      TRAJ_FLAGS_STD);
-	strat_eject();
-
 	return END_TRAJ;
 }