X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=db2221faec66889775952e9e2072f2c364798ccb;hp=3ef6675f5837a3535a9e001a497fb5c28f55a77a;hb=092caa88280f71fb58e5938114304fe2e94d6855;hpb=0a6dcb3bfa4b8b424975f91b8bcd57f0832deb9e

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 3ef6675..db2221f 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -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;
@@ -255,9 +270,19 @@ void strat_event(void *dummy)
 		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();
 }
 
 
@@ -325,10 +350,9 @@ static uint8_t strat_beginning(void)
 	uint8_t err;
 
 	strat_set_acc(ACC_DIST, ACC_ANGLE);
-	strat_set_speed(600, 60); /* OK */
-	//strat_set_speed(250, 28); /* OK */
+	strat_set_speed(400, 150); /* OK */
 
-	trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
+	trajectory_d_a_rel(&mainboard.traj, 800, COLOR_A(45));
 	err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 				    TRAJ_FLAGS_STD);