X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=0405844d3117ee64ddfb26f848e4fd33e199f385;hp=ced55e38fb1286fac3035dfa8b1d6de854b7dd75;hb=878d0fc33d940d5d02fc65dfd0e56798c97de18d;hpb=876789a372da2e93a816428649e511c2ad9e40be

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index ced55e3..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;
@@ -255,9 +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();
 }
 
 
@@ -294,7 +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));