X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=38397387431d4aed1aac4720d1482ef2d05b8cac;hp=52b151ebd7bf190333fd1af49c38f628cdeab6c5;hb=d776dc0dab6dd3ddf92041f1ad42e521847ea9cf;hpb=e442b9c066de9b55eef70fdf9993fc3f6b8259e8

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 52b151e..3839738 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -67,6 +67,7 @@
 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
 #define COL_SCAN_PRE_MARGIN 250
 
+static uint8_t strat_running = 0;
 struct strat_conf strat_conf;
 
 /*************************************************************/
@@ -100,22 +101,19 @@ void strat_conf_dump(const char *caller)
 /* call it just before launching the strat */
 void strat_init(void)
 {
+#ifdef HOST_VERSION
 	position_set(&mainboard.pos, 298.16,
 		     COLOR_Y(308.78), COLOR_A(70.00));
-
-	/* XXX init rollers, .. */
-
-	strat_db_init();
+#endif
 
 	/* 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();
 
-	//i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
-	//i2c_cobboard_harvest(I2C_LEFT_SIDE);
-	//i2c_cobboard_harvest(I2C_RIGHT_SIDE);
+	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 	i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 
 	/* used in strat_base for END_TIMER */
@@ -131,6 +129,7 @@ void strat_exit(void)
 	uint8_t flags;
 #endif
 
+	strat_running = 0;
 	mainboard.flags &= ~(DO_TIMER);
 	strat_hardstop();
 	time_reset();
@@ -144,20 +143,60 @@ void strat_exit(void)
 #endif
 }
 
-/* called periodically */
+/* called periodically (10ms) */
 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
-				;
+	uint8_t flags;
+	uint8_t lcob, rcob;
+	uint8_t lidx, ridx;
+
+	/* ignore when strat is not running */
+	if (strat_running == 0)
+		return;
+
+	IRQ_LOCK(flags);
+	lcob = ballboard.lcob;
+	ballboard.lcob = I2C_COB_NONE;
+	rcob = ballboard.rcob;
+	ballboard.rcob = I2C_COB_NONE;
+	IRQ_UNLOCK(flags);
+
+	/* XXX take opponent position into account */
+
+
+	/* 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);
+			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);
 	}
-#endif
+	else {
+		i2c_cobboard_deploy(I2C_LEFT_SIDE);
+	}
+
+	/* 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);
+			DEBUG(E_USER_STRAT, "rcob %s %d",
+			      rcob == I2C_COB_WHITE ? "white" : "black", ridx);
+		}
+		if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
+			i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
+		else
+			i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+	}
+	else {
+		i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+	}
+
+
 	/* limit speed when opponent is close */
 	strat_limit_speed();
 }
@@ -171,20 +210,20 @@ static uint8_t strat_beginning(void)
 	strat_set_speed(600, SPEED_ANGLE_FAST);
 #else
 	/* 250 */
-	strat_set_speed(600, SPEED_ANGLE_FAST);
+	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, 500, COLOR_A(20));
+	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 0
+#if 1
  l1:
 	if (get_cob_count() >= 5)
 		strat_set_speed(600, SPEED_ANGLE_FAST);