X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=c253e5f63c9f7d06eac6f5d391df44bb27bb6888;hp=6743d370fa6474be6442aeb7004feca85077ae73;hb=78150017ab8c5615af414df706a0525fe7c262ae;hpb=31bb619b1046f561cff432cb116735b1423a8d89

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 6743d37..c253e5f 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>
@@ -58,6 +58,7 @@
 #include "main.h"
 #include "strat.h"
 #include "strat_base.h"
+#include "strat_corn.h"
 #include "strat_utils.h"
 #include "sensor.h"
 #include "actuator.h"
@@ -70,7 +71,10 @@ struct strat_infos strat_infos = {
 	.conf = {
 		.flags = 0,
 	},
-
+	/* status */
+	.status = {
+		.flags = 0,
+	},
 };
 
 /*************************************************************/
@@ -108,7 +112,7 @@ void strat_preinit(void)
 	mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
 		DO_POS | DO_BD | DO_POWER;
 
-	i2c_cobboard_mode_init();
+	//i2c_cobboard_mode_init();
 	strat_dump_conf();
 	strat_dump_infos(__FUNCTION__);
 }
@@ -135,12 +139,14 @@ void strat_dump_infos(const char *caller)
  * here */
 void strat_reset_infos(void)
 {
+	init_corn_table(-1, -1);
 }
 
 /* call it just before launching the strat */
 void strat_init(void)
 {
 	/* XXX init rollers, .. */
+
 	strat_reset_infos();
 
 	/* we consider that the color is correctly set */
@@ -149,8 +155,12 @@ void strat_init(void)
 	time_reset();
 	interrupt_traj_reset();
 
+	i2c_cobboard_mode_harvest(I2C_LEFT_SIDE);
+	i2c_cobboard_mode_harvest(I2C_RIGHT_SIDE);
+	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;
 }
 
@@ -174,12 +184,52 @@ 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
 	/* limit speed when opponent is close */
 	strat_limit_speed();
 }
 
 static uint8_t strat_beginning(void)
 {
+	uint8_t err;
+
+	strat_set_speed(250, SPEED_ANGLE_FAST);
+	//init_corn_table(0, 0);
+
+	err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
+	err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
+	err = line2line(LINE_R_UP, 2, LINE_UP, 5);
+	trajectory_hardstop(&mainboard.traj);
+
+	/* ball ejection */
+	trajectory_a_abs(&mainboard.traj, COLOR_A(90));
+	i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+	time_wait_ms(2000);
+
+	/* half turn */
+	trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+	err = wait_traj_end(END_INTR|END_TRAJ);
+	i2c_cobboard_mode_pack(I2C_LEFT_SIDE);
+	i2c_cobboard_mode_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_mode_eject();
+	time_wait_ms(2000);
+
 	return END_TRAJ;
 }
 
@@ -197,7 +247,7 @@ uint8_t strat_main(void)
 {
 	uint8_t err;
 
-	/* do static cols + first temple */
+	/* */
 	err = strat_beginning();
 
 	return err;