X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_avoid.c;h=37483ceb2ce4eaf264560a487c36eb667f07902b;hp=3d5218823d2f27a1e69e019bb608776aff8ee027;hb=HEAD;hpb=0b7e368f3918ec09a82f73ed2f2a86a4a6957ee0

diff --git a/projects/microb2010/mainboard/strat_avoid.c b/projects/microb2010/mainboard/strat_avoid.c
index 3d52188..37483ce 100644
--- a/projects/microb2010/mainboard/strat_avoid.c
+++ b/projects/microb2010/mainboard/strat_avoid.c
@@ -552,7 +552,7 @@ int16_t linedir2angle(uint8_t dir)
 	case LINE_R_UP:
 		return COLOR_A(30);
 	case LINE_R_DOWN:
-		return COLOR_A(-90);
+		return COLOR_A(-30);
 	case LINE_L_UP:
 		return COLOR_A(150);
 	case LINE_L_DOWN:
@@ -562,6 +562,25 @@ int16_t linedir2angle(uint8_t dir)
 	}
 }
 
+int16_t get_nearest_dir_angle(int16_t a)
+{
+	uint8_t dir, min_dir = 0;
+	int16_t min_diff = 0x7FFF, diff;
+
+	for (dir = LINE_UP; dir <= LINE_R_UP; dir++) {
+		diff = abs(linedir2angle(dir) - a);
+		if (diff > 360)
+			diff -= 360;
+		if (diff > 360)
+			diff -= 360;
+		if (diff < min_diff) {
+			min_diff = diff;
+			min_dir = dir;
+		}
+	}
+	return linedir2angle(min_dir);
+}
+
 /* return true if a waypoint belongs to a line */
 uint8_t wp_belongs_to_line(uint8_t i, uint8_t j, uint8_t linenum, uint8_t dir)
 {
@@ -1060,6 +1079,7 @@ uint8_t strat_harvest_circuit(void)
 
 	/* do all lines of circuit */
 	for (idx = 1; idx < len; idx ++) {
+	retry:
 		linenum = circuit_wpline[idx].line_num;
 		dir = circuit_wpline[idx].dir;
 
@@ -1067,6 +1087,16 @@ uint8_t strat_harvest_circuit(void)
 		      __FUNCTION__, prev_linenum, prev_dir, linenum, dir);
 		err = line2line(prev_linenum, prev_dir, linenum, dir,
 				TRAJ_FLAGS_NO_NEAR);
+
+		/* in some cases it is better to wait that obstacle is
+		 * gone before starting to avoid it */
+		if (err == END_OBSTACLE &&
+		    strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
+		    time_get_s() > strat_conf.prev_wait_obstacle + 5) {
+			strat_conf.prev_wait_obstacle = time_get_s();
+			time_wait_ms(2000);
+			goto retry;
+		}
 		if (!TRAJ_SUCCESS(err))
 			goto fail;
 
@@ -1096,8 +1126,8 @@ const struct xy_point unblock_pts[] = {
 /* try to unblock in any situation */
 uint8_t strat_unblock(void)
 {
-	int16_t x, y, posx, posy;
-	uint8_t i, j, k;
+	int16_t x, y, posx, posy, posa;
+	uint8_t i, j, k, cpt;
 	uint16_t old_dspeed, old_aspeed;
 	uint8_t err;
 	uint16_t d_min = 0x7FFF, d;
@@ -1109,6 +1139,8 @@ uint8_t strat_unblock(void)
 	strat_get_speed(&old_dspeed, &old_aspeed);
 
 	strat_hardstop();
+	posa = position_get_a_deg_s16(&mainboard.pos);
+
 	strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
 	posx = position_get_x_s16(&mainboard.pos);
 	posy = position_get_y_s16(&mainboard.pos);
@@ -1137,10 +1169,32 @@ uint8_t strat_unblock(void)
 	DEBUG(E_USER_STRAT, "%s() unblock point is %d,%d",
 	      __FUNCTION__, x, y);
 
-	/* XXX if opponent is too close, go back, or wait ? */
+	for (cpt = 0; cpt < 2; cpt++) {
+
+		/* go to nearest waypoint */
+		trajectory_goto_xy_abs(&mainboard.traj, x, y);
+		err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+		if (err == END_TIMER)
+			return err;
+
+		if (TRAJ_SUCCESS(err))
+			break;
+
+		if (cpt == 1)
+			break;
+
+		/* aie... do a S */
+		trajectory_d_a_rel(&mainboard.traj, 100, 20);
+		err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+		trajectory_d_a_rel(&mainboard.traj, 100, -20);
+		err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+		trajectory_d_a_rel(&mainboard.traj, -100, -20);
+		err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+		trajectory_d_a_rel(&mainboard.traj, -100, 20);
+		err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+	}
 
-	/* go to nearest waypoint */
-	trajectory_goto_xy_abs(&mainboard.traj, x, y);
+	trajectory_a_abs(&mainboard.traj, get_nearest_dir_angle(posa));
 	err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 	if (err == END_TIMER)
 		return err;