X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=5ae37974ec5538cb789f58a284e81d312997c5e4;hp=ea846693ad4f5073b29201e78097128654811c2c;hb=aa68be2d5d596693bda1109e4ccd6489f613b4f7;hpb=96748eb468a27a784f148c89db593372357d9e2d

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index ea84669..5ae3797 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -67,7 +67,8 @@
 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
 #define COL_SCAN_PRE_MARGIN 250
 
-static uint8_t strat_running = 0;
+static volatile uint8_t strat_running = 0;
+static volatile uint8_t want_pack = 0;
 struct strat_conf strat_conf;
 
 /*************************************************************/
@@ -98,6 +99,16 @@ void strat_conf_dump(const char *caller)
 
 }
 
+void strat_event_enable(void)
+{
+	strat_running = 1;
+}
+
+void strat_event_disable(void)
+{
+	strat_running = 0;
+}
+
 /* call it just before launching the strat */
 void strat_init(void)
 {
@@ -121,7 +132,6 @@ void strat_init(void)
 		DO_POS | DO_BD | DO_TIMER | DO_POWER;
 }
 
-
 /* call it after each strat */
 void strat_exit(void)
 {
@@ -147,6 +157,7 @@ void strat_exit(void)
 void strat_event(void *dummy)
 {
 	uint8_t flags;
+	int8_t lcob_near, rcob_near;
 	uint8_t lcob, rcob;
 	uint8_t lidx, ridx;
 
@@ -173,42 +184,99 @@ void strat_event(void *dummy)
 #endif
 
 	/* 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);
+	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);
 	}
-	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)
+	/* 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);
 	}
-	else {
-		i2c_cobboard_deploy(I2C_RIGHT_SIDE);
-	}
 
-
-	/* limit speed when opponent is close */
+	/* 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;
@@ -221,7 +289,6 @@ static uint8_t strat_beginning(void)
 	strat_set_speed(250, SPEED_ANGLE_FAST);
 #endif
 
-
 	// strat_set_speed(600, 60); /* OK */
 	strat_set_speed(250, 28); /* OK */
 
@@ -230,6 +297,7 @@ static uint8_t strat_beginning(void)
 				    TRAJ_FLAGS_STD);
 
 	strat_set_acc(ACC_DIST, ACC_ANGLE);
+	strat_set_speed(250, SPEED_ANGLE_SLOW);
 
 #if 1
  l1:
@@ -256,11 +324,6 @@ static uint8_t strat_beginning(void)
 		goto l2;
 	}
 
-	WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
-			      TRAJ_FLAGS_STD);
-	trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
-	err = wait_traj_end(END_INTR|END_TRAJ);
-
 #else
 	strat_set_speed(600, SPEED_ANGLE_FAST);
 	err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
@@ -277,26 +340,7 @@ static uint8_t strat_beginning(void)
 	return END_TRAJ;
 #endif
 
-	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
-	strat_hardstop();
-	strat_set_speed(600, SPEED_ANGLE_FAST);
-
-	/* 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);
-	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
-	time_wait_ms(2000);
+	strat_eject();
 
 	strat_set_speed(250, SPEED_ANGLE_FAST);
 
@@ -330,29 +374,7 @@ static uint8_t strat_beginning(void)
 
 	WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
 			      TRAJ_FLAGS_STD);
-	trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
-	err = wait_traj_end(END_INTR|END_TRAJ);
-
-	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
-	strat_hardstop();
-	strat_set_speed(600, SPEED_ANGLE_FAST);
-
-	/* 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);
-	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
-	time_wait_ms(2000);
+	strat_eject();
 
 	return END_TRAJ;
 }
@@ -390,16 +412,6 @@ static uint8_t need_more_elements(void)
 	}
 }
 
-static uint8_t strat_harvest(void)
-{
-	return 0;
-}
-
-static uint8_t strat_eject(void)
-{
-	return 0;
-}
-
 uint8_t strat_main(void)
 {
 	uint8_t err;