X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=5ae37974ec5538cb789f58a284e81d312997c5e4;hp=6743d370fa6474be6442aeb7004feca85077ae73;hb=aa68be2d5d596693bda1109e4ccd6489f613b4f7;hpb=31bb619b1046f561cff432cb116735b1423a8d89

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 6743d37..5ae3797 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -1,6 +1,6 @@
-/*  
+/*
  *  Copyright Droids, Microb Technology (2009)
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -17,7 +17,7 @@
  *
  *  Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
  *
- *  Olivier MATZ <zer0@droids-corp.org> 
+ *  Olivier MATZ <zer0@droids-corp.org>
  */
 
 #include <stdio.h>
@@ -57,7 +57,9 @@
 #include "i2c_protocol.h"
 #include "main.h"
 #include "strat.h"
+#include "strat_db.h"
 #include "strat_base.h"
+#include "strat_corn.h"
 #include "strat_utils.h"
 #include "sensor.h"
 #include "actuator.h"
@@ -65,13 +67,9 @@
 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
 #define COL_SCAN_PRE_MARGIN 250
 
-struct strat_infos strat_infos = {
-	/* conf */
-	.conf = {
-		.flags = 0,
-	},
-
-};
+static volatile uint8_t strat_running = 0;
+static volatile uint8_t want_pack = 0;
+struct strat_conf strat_conf;
 
 /*************************************************************/
 
@@ -79,27 +77,6 @@ struct strat_infos strat_infos = {
 
 /*************************************************************/
 
-void strat_set_bounding_box(void)
-{
-	if (get_color() == I2C_COLOR_YELLOW) {
-		strat_infos.area_bbox.x1 = 300;
-		strat_infos.area_bbox.y1 = 200;
-		strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
-		strat_infos.area_bbox.y2 = 1800;
-	}
-	else {
-		strat_infos.area_bbox.x1 = 200;
-		strat_infos.area_bbox.y1 = 300;
-		strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
-		strat_infos.area_bbox.y2 = 1900;
-	}
-
-	polygon_set_boundingbox(strat_infos.area_bbox.x1,
-				strat_infos.area_bbox.y1,
-				strat_infos.area_bbox.x2,
-				strat_infos.area_bbox.y2);
-}
-
 /* called before each strat, and before the start switch */
 void strat_preinit(void)
 {
@@ -108,78 +85,297 @@ void strat_preinit(void)
 	mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
 		DO_POS | DO_BD | DO_POWER;
 
-	i2c_cobboard_mode_init();
-	strat_dump_conf();
-	strat_dump_infos(__FUNCTION__);
+	//i2c_cobboard_mode_init();
+	strat_conf_dump(__FUNCTION__);
+	strat_db_dump(__FUNCTION__);
 }
 
-void strat_dump_conf(void)
+void strat_conf_dump(const char *caller)
 {
-	if (!strat_infos.dump_enabled)
+	if (!strat_conf.dump_enabled)
 		return;
 
 	printf_P(PSTR("-- conf --\r\n"));
 
 }
 
-/* display current information about the state of the game */
-void strat_dump_infos(const char *caller)
+void strat_event_enable(void)
 {
-	if (!strat_infos.dump_enabled)
-		return;
-
-	printf_P(PSTR("%s() dump strat infos:\r\n"), caller);
+	strat_running = 1;
 }
 
-/* init current area state before a match. Dump update user conf
- * here */
-void strat_reset_infos(void)
+void strat_event_disable(void)
 {
+	strat_running = 0;
 }
 
 /* call it just before launching the strat */
 void strat_init(void)
 {
-	/* XXX init rollers, .. */
-	strat_reset_infos();
+#ifdef HOST_VERSION
+	position_set(&mainboard.pos, 298.16,
+		     COLOR_Y(308.78), COLOR_A(70.00));
+#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_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
+
 	/* used in strat_base for END_TIMER */
-	mainboard.flags = DO_ENCODERS | DO_CS | DO_RS | 
+	mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 		DO_POS | DO_BD | DO_TIMER | DO_POWER;
 }
 
-
 /* call it after each strat */
 void strat_exit(void)
 {
+#ifndef HOST_VERSION
 	uint8_t flags;
+#endif
 
+	strat_running = 0;
 	mainboard.flags &= ~(DO_TIMER);
 	strat_hardstop();
 	time_reset();
-	wait_ms(1000);
+	wait_ms(100);
+#ifndef HOST_VERSION
 	IRQ_LOCK(flags);
 	mainboard.flags &= ~(DO_CS);
+	IRQ_UNLOCK(flags);
 	pwm_ng_set(LEFT_PWM, 0);
 	pwm_ng_set(RIGHT_PWM, 0);
-	IRQ_UNLOCK(flags);
+#endif
 }
 
-/* called periodically */
+/* called periodically (10ms) */
 void strat_event(void *dummy)
 {
-	/* limit speed when opponent is close */
+	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;
+
+	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 */
+
+#ifdef HOST_VERSION
+	if (time_get_s() == 15)
+		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 */
+	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);
+		corn_set_color(strat_db.corn_table[lidx], lcob);
+	}
+
+	/* detect cob on right side */
+	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 (get_cob_count() >= 5 || want_pack) {
+		if (strat_db.corn_table[lidx]->corn.color != I2C_COB_WHITE &&
+		    strat_db.corn_table[lidx]->corn.color != I2C_COB_BLACK)
+			i2c_cobboard_pack(I2C_LEFT_SIDE);
+	}
+	else {
+		if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
+			i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
+		else if (strat_db.corn_table[lidx]->corn.color == I2C_COB_BLACK)
+			i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
+		else
+			i2c_cobboard_deploy(I2C_LEFT_SIDE);
+	}
+
+	/* control the cobboard mode for right spickle */
+	if (get_cob_count() >= 5 || want_pack) {
+		if (strat_db.corn_table[lidx]->corn.color != I2C_COB_WHITE &&
+		    strat_db.corn_table[lidx]->corn.color != I2C_COB_BLACK)
+			i2c_cobboard_pack(I2C_RIGHT_SIDE);
+	}
+	else {
+		if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
+			i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
+		else if (strat_db.corn_table[lidx]->corn.color == I2C_COB_BLACK)
+			i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
+		else
+			i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+	}
+
+	/* limit speed when opponent is near */
 	strat_limit_speed();
 }
 
+
+static uint8_t strat_harvest(void)
+{
+	return 0;
+}
+
+static uint8_t strat_eject(void)
+{
+	uint8_t err;
+
+	//XXX return vals
+	strat_set_speed(600, SPEED_ANGLE_SLOW);
+
+	trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+	err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+	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();
+
+	/* ball ejection */
+	trajectory_a_abs(&mainboard.traj, COLOR_A(90));
+	i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+	time_wait_ms(2000);
+
+	/* 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);
+	err = wait_traj_end(END_INTR|END_TRAJ);
+	strat_running = ;
+	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+	time_wait_ms(2000);
+
+	return 0;
+}
+
 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);
+	strat_set_speed(250, 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);
+	if (!TRAJ_SUCCESS(err)) {
+		strat_hardstop();
+		time_wait_ms(2000);
+		goto l1;
+	}
+
+ 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);
+	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;
+	}
+
+	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;
 }
 
@@ -193,12 +389,57 @@ 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;
+	}
+}
+
 uint8_t strat_main(void)
 {
 	uint8_t err;
 
-	/* do static cols + first temple */
+	/* 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;
 }