X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.h;h=42b47dd224f13fd111f6d945a4d3cb65970aed6f;hp=add640a7100633998f1fe3eadfea37084e1cb608;hb=06813a0566192d90e1ad8c891dfb7cc55dedd525;hpb=1714f4ee916fca95ce24120ea6e698237913f947

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index add640a..42b47dd 100644
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -23,10 +23,10 @@
 #define _STRAT_H_
 
 /* convert coords according to our color */
-#define COLOR_Y(y)     ((mainboard.our_color==I2C_COLOR_RED)? (y) : (AREA_Y-(y)))
-#define COLOR_A(a)     ((mainboard.our_color==I2C_COLOR_RED)? (a) : (-a))
-#define COLOR_SIGN(x)  ((mainboard.our_color==I2C_COLOR_RED)? (x) : (-x))
-#define COLOR_INVERT(x) ((mainboard.our_color==I2C_COLOR_RED)? (x) : (!x))
+#define COLOR_Y(y)     ((mainboard.our_color==I2C_COLOR_YELLOW)? (y) : (AREA_Y-(y)))
+#define COLOR_A(a)     ((mainboard.our_color==I2C_COLOR_YELLOW)? (a) : (-a))
+#define COLOR_SIGN(x)  ((mainboard.our_color==I2C_COLOR_YELLOW)? (x) : (-x))
+#define COLOR_INVERT(x) ((mainboard.our_color==I2C_COLOR_YELLOW)? (x) : (!x))
 
 /* area */
 #define AREA_X 3000
@@ -42,23 +42,51 @@
 #define CORNER_X 3000
 #define CORNER_Y COLOR_Y(2100)
 
+/* XXX these offset are not related to corn, but to waypoints */
+#define OFFSET_CORN_X 150
+#define OFFSET_CORN_Y 222
+#define STEP_CORN_X 225
+#define STEP_CORN_Y 250
+
+#define CORN_NB 18
+#define TOMATO_NB 14
+
+#define WAYPOINTS_NBX 13
+#define WAYPOINTS_NBY 8
+
 /*
+ * Corn position and lines
  *
+ *           vertical lines
+ *            O     1     2     3     4     5
+ * 2100 +-----|-----|-----|-----|-----|-----|-----+
+ *      |        c5          c9         c14       |
+ *      |  c2          c7         c11         c17 |   diag
+ *      |        c4          c8         c13       |   lines
+ *     0/  c1          c6         c10         c16 \0
+ *  y   |        c3                     c12       |
+ *     1/  c0                                 c15 \1
+ *      |-----+                             +-----|
+ *     2/     |                             |     \2
+ *      |     |                             |     |
+ *   0  +-----+-----------------------------+-----+
+ *     0                  x                      3000
  *
+ * Ball (tomato) and i,j coords (for waypoints)
  *
+ * 2100 +--0--1--2--3--4--5--6--7--8--9-10-11-12--+
+ *      7              t5          t9             |
+ *      6        t3          t7         t11       |
+ *      5  t1          t4          t8         t13 |
+ *      4        t2          t6         t10       |
+ *  y   3  t0                                 t12 |
+ *      2                                         |
+ *      1-----+                             +-----|
+ *      0     |                             |     |
+ *      |     |                             |     |
+ *   0  +-----+-----------------------------+-----+
+ *     0                  x                      3000
  *
- *     +------------------------------------+
- *     |      			            |
- *     |      			            |
- *     |      			            |
- *     |      			            | 
- *  y  |      			            |
- *     |      			            |  
- *     |------			      ------| 
- *     |     |			      |     | 
- *     |     |			      |     | 
- *     +-----+------------------------+-----+
- *                       x
  */
 
 /* useful traj flags */
@@ -69,40 +97,30 @@
 #define TRAJ_FLAGS_NO_NEAR_NO_TIMER (END_TRAJ|END_BLOCKING|END_OBSTACLE|END_INTR)
 #define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
 
+/* default acc */
+#define ACC_DIST  10.
+#define ACC_ANGLE 10.
+
 /* default speeds */
-#define SPEED_DIST_FAST 2500
-#define SPEED_ANGLE_FAST 2000
-#define SPEED_DIST_SLOW 1000
-#define SPEED_ANGLE_SLOW 1000
-#define SPEED_DIST_VERY_SLOW 400
-#define SPEED_ANGLE_VERY_SLOW 400
+#define SPEED_DIST_FAST 2500.
+#define SPEED_ANGLE_FAST 2000.
+#define SPEED_DIST_SLOW 1000.
+#define SPEED_ANGLE_SLOW 1000.
+#define SPEED_DIST_VERY_SLOW 400.
+#define SPEED_ANGLE_VERY_SLOW 400.
 
 /* strat infos structures */
+struct strat_conf {
+	uint8_t dump_enabled;
 
-struct bbox {
-	int32_t x1;
-	int32_t y1;
-	int32_t x2;
-	int32_t y2;
-};
-
-struct conf {
 #define STRAT_CONF_XXX   0x01
 	uint8_t flags;
 };
 
-/* all infos related to strat */
-struct strat_infos {
-	uint8_t dump_enabled;
-	struct conf conf;
-	struct bbox area_bbox;
-};
-extern struct strat_infos strat_infos;
+extern struct strat_conf strat_conf;
 
 /* in strat.c */
-void strat_dump_infos(const char *caller); /* show current known state
-					      of area */
-void strat_dump_conf(void);
+void strat_conf_dump(const char *caller);
 void strat_reset_infos(void); /* reset current known state */
 void strat_preinit(void);
 void strat_init(void);