X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=883ce6533645a0b29d9c5a7ba45e9f1bdcafb409;hp=a97ae1aaf9597e7dfc8a2d49ccd17dc8ed9ec256;hb=90945acf48061ebc3960195cabcb11175475e426;hpb=5894a1a70f98504fee52e58f45f181aa684d99bf diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c index a97ae1a..883ce65 100644 --- a/projects/microb2010/mainboard/strat.c +++ b/projects/microb2010/mainboard/strat.c @@ -69,7 +69,7 @@ #define COL_SCAN_PRE_MARGIN 250 static volatile uint8_t strat_running = 0; -static volatile uint8_t want_pack = 0; +volatile uint8_t strat_want_pack = 0; volatile uint8_t strat_lpack60 = 0; volatile uint8_t strat_rpack60 = 0; struct strat_conf strat_conf; @@ -116,8 +116,8 @@ void strat_event_disable(void) void strat_init(void) { #ifdef HOST_VERSION - position_set(&mainboard.pos, 298.16, - COLOR_Y(308.78), COLOR_A(70.00)); + position_set(&mainboard.pos, 258., + COLOR_Y(246.), COLOR_A(45.)); #endif /* we consider that the color is correctly set */ @@ -155,18 +155,33 @@ void strat_exit(void) #endif } -/* called periodically (10ms) */ -void strat_event(void *dummy) +/* mark tomato as not present */ +static void check_tomato(void) +{ + int16_t x, y; + uint8_t i, j; + + x = position_get_x_s16(&mainboard.pos); + y = position_get_y_s16(&mainboard.pos); + + if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) + return; + + if (strat_db.wp_table[i][j].type != WP_TYPE_TOMATO) + return; + + strat_db.wp_table[i][j].present = 0; +} + +/* mark corn as not present and give correct commands to the cobboard + * for spickles */ +static void check_corn(void) { 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; - /* read sensors from ballboard */ IRQ_LOCK(flags); lcob = ballboard.lcob; @@ -188,8 +203,6 @@ void strat_event(void *dummy) 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 */ @@ -212,7 +225,7 @@ void strat_event(void *dummy) /* control the cobboard mode for left spickle */ if (lcob_near && strat_db.corn_table[lidx]->present) { - if (get_cob_count() >= 5 || want_pack || strat_lpack60) { + if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60) { /* nothing */ } else { @@ -228,15 +241,15 @@ void strat_event(void *dummy) } else { /* no cob near us, we can pack or deploy freely */ - if (get_cob_count() >= 5 || want_pack || strat_lpack60) - i2c_cobboard_pack(I2C_LEFT_SIDE); + if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60) + i2c_cobboard_pack_weak(I2C_LEFT_SIDE); else i2c_cobboard_deploy(I2C_LEFT_SIDE); } /* control the cobboard mode for right spickle */ if (rcob_near && strat_db.corn_table[ridx]->present) { - if (get_cob_count() >= 5 || want_pack || strat_rpack60) { + if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60) { /* nothing */ } else { @@ -252,14 +265,24 @@ void strat_event(void *dummy) } else { /* no cob near us, we can pack or deploy freely */ - if (get_cob_count() >= 5 || want_pack || strat_rpack60) - i2c_cobboard_pack(I2C_RIGHT_SIDE); + if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60) + i2c_cobboard_pack_weak(I2C_RIGHT_SIDE); else i2c_cobboard_deploy(I2C_RIGHT_SIDE); } +} +/* called periodically (10ms) */ +void strat_event(void *dummy) +{ + /* ignore when strat is not running */ + if (strat_running == 0) + return; + + check_tomato(); + check_corn(); /* limit speed when opponent is near */ - strat_limit_speed(); + //strat_limit_speed(); } @@ -279,8 +302,8 @@ static uint8_t strat_eject(void) err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5, TRAJ_FLAGS_NO_NEAR); if (err == 0) { - want_pack = 1; - strat_set_speed(600, SPEED_ANGLE_SLOW); + strat_want_pack = 1; + strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW); err = wait_traj_end(TRAJ_FLAGS_NO_NEAR); } @@ -296,7 +319,14 @@ static uint8_t strat_eject(void) DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__); strat_hardstop(); +#ifdef HOST_VERSION time_wait_ms(2000); +#else + WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY, + 2000); + WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY, + 2000); +#endif /* half turn */ trajectory_a_rel(&mainboard.traj, COLOR_A(180)); @@ -311,7 +341,7 @@ static uint8_t strat_eject(void) time_wait_ms(2000); strat_event_enable(); - want_pack = 0; + strat_want_pack = 0; return 0; } @@ -320,13 +350,6 @@ 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 */ @@ -335,14 +358,11 @@ static uint8_t strat_beginning(void) TRAJ_FLAGS_STD); strat_set_acc(ACC_DIST, ACC_ANGLE); - strat_set_speed(250, SPEED_ANGLE_SLOW); + strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW); l1: DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count()); - if (get_cob_count() >= 5) - strat_set_speed(600, SPEED_ANGLE_FAST); - - err = line2line(0, LINE_UP, 2, LINE_R_DOWN); + err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR); if (!TRAJ_SUCCESS(err)) { strat_hardstop(); time_wait_ms(2000); @@ -351,10 +371,7 @@ static uint8_t strat_beginning(void) l2: DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count()); - if (get_cob_count() >= 5) - strat_set_speed(600, SPEED_ANGLE_FAST); - - err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP); + err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR); if (!TRAJ_SUCCESS(err)) { strat_hardstop(); time_wait_ms(2000); @@ -364,7 +381,7 @@ static uint8_t strat_beginning(void) strat_eject(); while (1) { - strat_set_speed(250, SPEED_ANGLE_FAST); + strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW); strat_harvest_circuit(); strat_eject(); }