X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.h;h=94433c1ee29cbc0f7981ec8a68472ec0617f225f;hp=d85239617d08119e95d3e0cebafa8a58fc61ad15;hb=4abb0bf96078e303a8f43a0ba020a1801b908ae4;hpb=6914527de2ecfef9d790740c71739e7418246b96

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index d852396..94433c1 100644
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -42,23 +42,84 @@
 #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, valid for YELLOW.
+ *
+ *           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
+ *      | Yellow                           Blue   |
+ *   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     |                             |     |
+ *      | Yellow                           Blue   |
+ *   0  +-----+-----------------------------+-----+
+ *     0                  x                      3000
  *
  *
+ * Corn position and lines, valid for BLUE.
+ *
+ *           vertical lines
+ *            5     4     3     2     1     0
+ *    0 +-----|-----|-----|-----|-----|-----|-----+
+ *      |        c14         c9         c5        |
+ *      |  c17         c11        c7          c2  |   diag
+ *      |        c13         c8         c4        |   lines
+ *     0/  c16         c10        c6          c1  \0
+ *  y   |        c12                    c3        |
+ *     1/  c15                                c0  \1
+ *      |-----+                             +-----|
+ *     2/     |                             |     \2
+ *      | Yellow                           Blue   |
+ * 2100 +-----+-----------------------------+-----+
+ *    3000                x                       0
+ *
+ * Ball (tomato) and i,j coords (for waypoints)
+ *
+ *    0 +-12-11-10--9--8--7--6--5--4--3--2--1--0--+
+ *      7              t9          t5             |
+ *      6       t11          t7         t3        |
+ *      5 t13          t8          t4         t1  |
+ *      4       t10          t6         t2        |
+ *  y   3 t12                                 t0  |
+ *      2                                         |
+ *      1-----+                             +-----|
+ *      0     |                             |     |
+ *      | Yellow                           Blue   |
+ * 2100 +-----+-----------------------------+-----+
+ *   3000                 x                       0
  *
- *     +------------------------------------+
- *     |      			            |
- *     |      			            |
- *     |      			            |
- *     |      			            | 
- *  y  |      			            |
- *     |      			            |  
- *     |------			      ------| 
- *     |     |			      |     | 
- *     |     |			      |     | 
- *     +-----+------------------------+-----+
- *                       x
  */
 
 /* useful traj flags */
@@ -70,8 +131,8 @@
 #define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
 
 /* default acc */
-#define ACC_DIST  5.
-#define ACC_ANGLE 5.
+#define ACC_DIST  16.
+#define ACC_ANGLE 16.
 
 /* default speeds */
 #define SPEED_DIST_FAST 2500.
@@ -82,38 +143,19 @@
 #define SPEED_ANGLE_VERY_SLOW 400.
 
 /* strat infos structures */
-
-struct strat_bbox {
-	int32_t x1;
-	int32_t y1;
-	int32_t x2;
-	int32_t y2;
-};
-
 struct strat_conf {
-#define STRAT_CONF_XXX   0x01
-	uint8_t flags;
-};
+	uint8_t dump_enabled;
 
-struct strat_status {
-#define STRAT_STATUS_LHARVEST 0x01
-#define STRAT_STATUS_RHARVEST 0x02
+#define STRAT_CONF_XXX   0x01
 	uint8_t flags;
 };
 
-/* all infos related to strat */
-struct strat_infos {
-	uint8_t dump_enabled;
-	struct strat_conf conf;
-	struct strat_bbox area_bbox;
-	struct strat_status status;
-};
-extern struct strat_infos strat_infos;
+extern struct strat_conf strat_conf;
+extern volatile uint8_t strat_lpack60;
+extern volatile uint8_t strat_rpack60;
 
 /* 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);
@@ -122,5 +164,7 @@ void strat_dump_flags(void);
 void strat_goto_near(int16_t x, int16_t y, uint16_t dist);
 uint8_t strat_main(void);
 void strat_event(void *dummy);
+void strat_event_enable(void);
+void strat_event_disable(void);
 
 #endif