X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=e08c4af38c9bea93bc8c3e8d6002e86edb756756;hp=a5a952c71620e60d0a0cfce0b6e6808202abc4c9;hb=b28db6087ed5fdab0bda8f23417ef7098d2a9ae5;hpb=4e7801883ed4076cb14b63a0571467747894c0f8

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index a5a952c..e08c4af 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -110,8 +110,9 @@ void strat_init(void)
 	time_reset();
 	interrupt_traj_reset();
 
-	i2c_cobboard_mode_harvest(I2C_LEFT_SIDE);
-	i2c_cobboard_mode_harvest(I2C_RIGHT_SIDE);
+	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+	i2c_cobboard_harvest(I2C_LEFT_SIDE);
+	i2c_cobboard_harvest(I2C_RIGHT_SIDE);
 	i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 
 	/* used in strat_base for END_TIMER */
@@ -198,15 +199,15 @@ static uint8_t strat_beginning(void)
 	/* 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);
+	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_mode_eject();
+	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 	time_wait_ms(2000);
 
 	trajectory_hardstop(&mainboard.traj);
@@ -223,12 +224,67 @@ 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;
+	}
+}
+
+static uint8_t strat_harvest(void)
+{
+	return 0;
+}
+
+static uint8_t strat_eject(void)
+{
+	return 0;
+}
+
 uint8_t strat_main(void)
 {
 	uint8_t err;
 
-	/* */
+	/* 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;
 }