X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=2c6042828a6b74e1593388d8e8b7acdfc5acc315;hp=df80b793ff7e4c3936593f1225641ae818f92229;hb=9d056416278ae5d772a0fc1f7d2d11a4461fb673;hpb=19cd41f7920628a962928580cd1618a1ee5750aa

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index df80b79..2c60428 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -100,6 +100,9 @@ void strat_conf_dump(const char *caller)
 /* call it just before launching the strat */
 void strat_init(void)
 {
+	position_set(&mainboard.pos, 298.16,
+		     COLOR_Y(308.78), COLOR_A(70.00));
+
 	/* XXX init rollers, .. */
 
 	strat_db_init();
@@ -144,17 +147,25 @@ void strat_exit(void)
 /* called periodically */
 void strat_event(void *dummy)
 {
-#if 0
-	/* pack or deploy spickle */
-	if (strat_infos.status.flags & STRAT_STATUS_LHARVEST) {
-		if (sensor_get(S_LCOB_PRESENT)) {
-			if (sensor_get(S_LCOB_WHITE))
-				i2c_ballboard_set_mode();
-			else
-				;
-		}
-	}
-#endif
+	uint8_t flags;
+	uint8_t lcob, rcob;
+
+	IRQ_LOCK(flags);
+	lcob = ballboard.lcob;
+	ballboard.lcob = I2C_COB_NONE;
+	rcob = ballboard.rcob;
+	ballboard.rcob = I2C_COB_NONE;
+	IRQ_UNLOCK(flags);
+
+	if (lcob == I2C_COB_WHITE)
+		DEBUG(E_USER_STRAT, "lcob white");
+	if (lcob == I2C_COB_BLACK)
+		DEBUG(E_USER_STRAT, "lcob black");
+	if (rcob == I2C_COB_WHITE)
+		DEBUG(E_USER_STRAT, "rcob white");
+	if (rcob == I2C_COB_BLACK)
+		DEBUG(E_USER_STRAT, "rcob black");
+
 	/* limit speed when opponent is close */
 	strat_limit_speed();
 }
@@ -163,9 +174,29 @@ 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 */
+
+	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);
 
+#if 1
  l1:
+	if (get_cob_count() >= 5)
+		strat_set_speed(600, SPEED_ANGLE_FAST);
+
 	err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
 	if (!TRAJ_SUCCESS(err)) {
 		trajectory_hardstop(&mainboard.traj);
@@ -174,6 +205,9 @@ static uint8_t strat_beginning(void)
 	}
 
  l2:
+	if (get_cob_count() >= 5)
+		strat_set_speed(600, SPEED_ANGLE_FAST);
+
 	err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
 	if (!TRAJ_SUCCESS(err)) {
 		trajectory_hardstop(&mainboard.traj);
@@ -182,12 +216,30 @@ static uint8_t strat_beginning(void)
 	}
 
  l3:
+	if (get_cob_count() >= 5)
+		strat_set_speed(600, SPEED_ANGLE_FAST);
+
 	err = line2line(LINE_R_UP, 2, LINE_UP, 5);
 	if (!TRAJ_SUCCESS(err)) {
 		trajectory_hardstop(&mainboard.traj);
 		time_wait_ms(2000);
 		goto l3;
 	}
+#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);
+	trajectory_hardstop(&mainboard.traj);
+	return END_TRAJ;
+#endif
 
 	trajectory_hardstop(&mainboard.traj);
 
@@ -224,12 +276,67 @@ static uint8_t strat_beginning(void)
 	} while (0)
 
 
+/* return true if we need to grab some more elements */
+static uint8_t need_more_elements(void)
+{
+	if (time_get_s() <= 75) {
+		/* we have enough time left */
+		if (get_ball_count() >= 4)
+			return 0;
+		if (get_cob_count() >= 4)
+			return 0;
+		if ((get_ball_count() >= 2) &&
+		    (get_cob_count() >= 2))
+			return 0;
+		return 1;
+	}
+	else {
+		/* not much time remaining */
+		if ((get_ball_count() >= 1) &&
+		    (get_cob_count() >= 1))
+			return 0;
+		return 1;
+	}
+}
+
+static uint8_t strat_harvest(void)
+{
+	return 0;
+}
+
+static uint8_t strat_eject(void)
+{
+	return 0;
+}
+
 uint8_t strat_main(void)
 {
 	uint8_t err;
 
-	/* */
+	/* harvest the first cobs + balls */
 	err = strat_beginning();
 
+	while (1) {
+		/* end of time exit ! */
+		if (err == END_TIMER) {
+			DEBUG(E_USER_STRAT, "End of time");
+			strat_exit();
+			break;
+		}
+
+		if (need_more_elements() == 0) {
+			/* we have enough elements, go to eject */
+			err = strat_eject();
+			if (!TRAJ_SUCCESS(err))
+				continue;
+		}
+		else {
+			/* harvest */
+			err = strat_harvest();
+			if (!TRAJ_SUCCESS(err))
+				continue;
+		}
+	}
+
 	return err;
 }