X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=14aaf652ae8397d3233200c802d3902221c71d86;hp=3e29f3a22385011fa7ffce0d72debdd88db40c47;hb=90bef45081332f3780e26bf9f838b668df99fb26;hpb=28da5858ac871c626153f47566e968ecb05ff52b

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 3e29f3a..14aaf65 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -75,6 +75,10 @@ static volatile uint8_t strat_running = 0;
 volatile uint8_t strat_want_pack = 0;
 volatile uint8_t strat_lpack60 = 0;
 volatile uint8_t strat_rpack60 = 0;
+
+volatile uint8_t strat_opponent_lpack = 0;
+volatile uint8_t strat_opponent_rpack = 0;
+
 struct strat_conf strat_conf = {
 	.dump_enabled = 0,
 	.opp_orange = 90,
@@ -222,6 +226,7 @@ static void check_corn(void)
 	uint8_t lidx, ridx;
 	static uint8_t prev_check_time;
 	uint8_t cur_time;
+	uint8_t need_lpack, need_rpack;
 
 	/* read sensors from ballboard */
 	IRQ_LOCK(flags);
@@ -270,8 +275,10 @@ static void check_corn(void)
 	}
 
 	/* control the cobboard mode for left spickle */
+	need_lpack = get_cob_count() >= 5 || strat_want_pack ||
+		strat_lpack60 || strat_opponent_lpack;
 	if (lcob_near && strat_db.corn_table[lidx]->present) {
-		if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60) {
+		if (need_lpack) {
 			/* nothing  */
 		}
 		else {
@@ -296,15 +303,17 @@ static void check_corn(void)
 	}
 	else {
 		/* no cob near us, we can pack or deploy freely */
-		if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60)
+		if (need_lpack)
 			i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
 		else
 			i2c_cobboard_deploy(I2C_LEFT_SIDE);
 	}
 
 	/* control the cobboard mode for right spickle */
+	need_rpack = get_cob_count() >= 5 || strat_want_pack ||
+		strat_rpack60 || strat_opponent_rpack;
 	if (rcob_near && strat_db.corn_table[ridx]->present) {
-		if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60) {
+		if (need_rpack) {
 			/* nothing */
 		}
 		else {
@@ -329,13 +338,57 @@ static void check_corn(void)
 	}
 	else {
 		/* no cob near us, we can pack or deploy freely */
-		if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60)
+		if (need_rpack)
 			i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
 		else
 			i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 	}
 }
 
+/* check opponent position */
+void check_opponent(void)
+{
+	int16_t opp_x, opp_y;
+	int16_t opp_d, opp_a;
+	uint8_t i, j;
+
+	strat_opponent_lpack = 0;
+	strat_opponent_rpack = 0;
+
+	if (get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a) < 0)
+		return;
+
+	/* pack spickles if opponent too close */
+	if (opp_d < 600) {
+		if (opp_a > 45 && opp_a < 135)
+			strat_opponent_lpack = 1;
+		if (opp_a > 225 && opp_a < 315)
+			strat_opponent_rpack = 1;
+	}
+
+	/* check for oranges after 5 seconds */
+	if (time_get_s() > 5) {
+		if (mainboard.our_color == I2C_COLOR_YELLOW) {
+			if (opp_y < 500 && opp_x < 500)
+				strat_db.our_oranges_count = 0;
+			if (opp_y < 500 && opp_x > AREA_X - 500)
+				strat_db.opp_oranges_count = 0;
+		}
+		else {
+			if (opp_y > AREA_Y - 500 && opp_x < 500)
+				strat_db.our_oranges_count = 0;
+			if (opp_y > AREA_Y - 500 && opp_x > AREA_X - 500)
+				strat_db.opp_oranges_count = 0;
+		}
+	}
+
+	/* malus for some tomatoes and cobs, visited by opponent */
+	if (xycoord_to_ijcoord(&opp_x, &opp_y, &i, &j) < 0)
+		return;
+
+	strat_db.wp_table[i][j].opp_visited = 1;
+}
+
 /* called periodically (10ms) */
 void strat_event(void *dummy)
 {
@@ -343,6 +396,7 @@ void strat_event(void *dummy)
 	if (strat_running == 0)
 		return;
 
+	check_opponent();
 	check_tomato();
 	check_corn();
 
@@ -360,7 +414,7 @@ static uint8_t robot_is_on_eject_line(void)
 	x = position_get_x_s16(&mainboard.pos);
 	y = position_get_y_s16(&mainboard.pos);
 
-	if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+	if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
 		return 0;
 
 	if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
@@ -384,7 +438,7 @@ static uint8_t eject_select_speed(void)
 		return 0; /* fast */
 	}
 
-	if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+	if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0) {
 		DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
 		      __FUNCTION__, x, y);
 		return 1; /* slow */
@@ -566,7 +620,7 @@ uint8_t get_opp_oranges(void)
 	x = position_get_x_s16(&mainboard.pos);
 	y = position_get_y_s16(&mainboard.pos);
 
-	if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+	if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
 		return END_ERROR;
 
 	/* not on eject point */
@@ -623,7 +677,7 @@ uint8_t get_orphan_tomatoes(void)
 	x = position_get_x_s16(&mainboard.pos);
 	y = position_get_y_s16(&mainboard.pos);
 
-	if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+	if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
 		return END_ERROR;
 
 	/* not on eject point */
@@ -808,8 +862,8 @@ uint8_t run_to_the_hills(uint8_t orange_color)
 				    HILL_POSX_BALLS_DOWN3,
 				    TRAJ_FLAGS_SMALL_DIST);
 	DEBUG(E_USER_STRAT, "deploy support balls");
-	strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 	strat_set_acc(ad, aa);
+	strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 	support_balls_deploy();
 	err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
 	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);