X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=ea846693ad4f5073b29201e78097128654811c2c;hp=2c6042828a6b74e1593388d8e8b7acdfc5acc315;hb=96748eb468a27a784f148c89db593372357d9e2d;hpb=9d056416278ae5d772a0fc1f7d2d11a4461fb673

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 2c60428..ea84669 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -67,6 +67,7 @@
 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
 #define COL_SCAN_PRE_MARGIN 250
 
+static uint8_t strat_running = 0;
 struct strat_conf strat_conf;
 
 /*************************************************************/
@@ -100,22 +101,19 @@ void strat_conf_dump(const char *caller)
 /* call it just before launching the strat */
 void strat_init(void)
 {
+#ifdef HOST_VERSION
 	position_set(&mainboard.pos, 298.16,
 		     COLOR_Y(308.78), COLOR_A(70.00));
-
-	/* XXX init rollers, .. */
-
-	strat_db_init();
+#endif
 
 	/* we consider that the color is correctly set */
-
+	strat_running = 1;
+	strat_db_init();
 	strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 	time_reset();
 	interrupt_traj_reset();
 
 	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 */
@@ -131,6 +129,7 @@ void strat_exit(void)
 	uint8_t flags;
 #endif
 
+	strat_running = 0;
 	mainboard.flags &= ~(DO_TIMER);
 	strat_hardstop();
 	time_reset();
@@ -144,11 +143,16 @@ void strat_exit(void)
 #endif
 }
 
-/* called periodically */
+/* called periodically (10ms) */
 void strat_event(void *dummy)
 {
 	uint8_t flags;
 	uint8_t lcob, rcob;
+	uint8_t lidx, ridx;
+
+	/* ignore when strat is not running */
+	if (strat_running == 0)
+		return;
 
 	IRQ_LOCK(flags);
 	lcob = ballboard.lcob;
@@ -157,14 +161,49 @@ void strat_event(void *dummy)
 	ballboard.rcob = I2C_COB_NONE;
 	IRQ_UNLOCK(flags);
 
-	if (lcob == I2C_COB_WHITE)
-		DEBUG(E_USER_STRAT, "lcob white");
-	if (lcob == I2C_COB_BLACK)
-		DEBUG(E_USER_STRAT, "lcob black");
-	if (rcob == I2C_COB_WHITE)
-		DEBUG(E_USER_STRAT, "rcob white");
-	if (rcob == I2C_COB_BLACK)
-		DEBUG(E_USER_STRAT, "rcob black");
+	/* XXX take opponent position into account */
+
+#ifdef HOST_VERSION
+	if (time_get_s() == 15)
+		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 */
+	if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
+		if (lcob != I2C_COB_NONE) {
+			corn_set_color(strat_db.corn_table[lidx], lcob);
+			DEBUG(E_USER_STRAT, "lcob %s %d",
+			      lcob == I2C_COB_WHITE ? "white" : "black", lidx);
+		}
+		if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
+			i2c_cobboard_autoharvest(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)
+			i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
+		else
+			i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+	}
+	else {
+		i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+	}
+
 
 	/* limit speed when opponent is close */
 	strat_limit_speed();
@@ -194,37 +233,34 @@ static uint8_t strat_beginning(void)
 
 #if 1
  l1:
+	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 	if (get_cob_count() >= 5)
 		strat_set_speed(600, SPEED_ANGLE_FAST);
 
 	err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
 	if (!TRAJ_SUCCESS(err)) {
-		trajectory_hardstop(&mainboard.traj);
+		strat_hardstop();
 		time_wait_ms(2000);
 		goto l1;
 	}
 
  l2:
+	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 	if (get_cob_count() >= 5)
 		strat_set_speed(600, SPEED_ANGLE_FAST);
 
 	err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
 	if (!TRAJ_SUCCESS(err)) {
-		trajectory_hardstop(&mainboard.traj);
+		strat_hardstop();
 		time_wait_ms(2000);
 		goto l2;
 	}
 
- l3:
-	if (get_cob_count() >= 5)
-		strat_set_speed(600, SPEED_ANGLE_FAST);
+	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);
 
-	err = line2line(LINE_R_UP, 2, LINE_UP, 5);
-	if (!TRAJ_SUCCESS(err)) {
-		trajectory_hardstop(&mainboard.traj);
-		time_wait_ms(2000);
-		goto l3;
-	}
 #else
 	strat_set_speed(600, SPEED_ANGLE_FAST);
 	err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
@@ -237,11 +273,13 @@ static uint8_t strat_beginning(void)
 	err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
 	err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
 	wait_ms(500);
-	trajectory_hardstop(&mainboard.traj);
+	strat_hardstop();
 	return END_TRAJ;
 #endif
 
-	trajectory_hardstop(&mainboard.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));
@@ -249,8 +287,62 @@ static uint8_t strat_beginning(void)
 	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_set_speed(250, SPEED_ANGLE_FAST);
+
+ l4:
+	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+	if (get_cob_count() >= 5)
+		strat_set_speed(600, SPEED_ANGLE_FAST);
+
+	err = line2line(LINE_DOWN, 5, LINE_L_UP, 2);
+	if (!TRAJ_SUCCESS(err)) {
+		strat_hardstop();
+		time_wait_ms(2000);
+		goto l4;
+	}
+
+ l5:
+	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+	if (get_cob_count() >= 5)
+		strat_set_speed(600, SPEED_ANGLE_FAST);
+
+	err = line2line(LINE_L_UP, 2, LINE_R_UP, 2);
+	if (!TRAJ_SUCCESS(err)) {
+		strat_hardstop();
+		time_wait_ms(2000);
+		goto l5;
+	}
+
+	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+	if (get_cob_count() >= 5)
+		strat_set_speed(600, SPEED_ANGLE_FAST);
+
+	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));
@@ -262,7 +354,6 @@ static uint8_t strat_beginning(void)
 	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 	time_wait_ms(2000);
 
-	trajectory_hardstop(&mainboard.traj);
 	return END_TRAJ;
 }