X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_corn.c;h=8f8503ff0d8c2fcedec4be3dc358a4b1864d7f2f;hp=31afd436463d3639cd7dc2804c0d0946eef2ad54;hb=17aadc4c8c3e60c2b5e6bbba91c8542849addbd7;hpb=e442b9c066de9b55eef70fdf9993fc3f6b8259e8

diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index 31afd43..8f8503f 100644
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -27,6 +27,7 @@
 #include <math.h>
 
 #include <aversive.h>
+#include <aversive/error.h>
 #include <aversive/pgmspace.h>
 
 #include <ax12.h>
@@ -65,10 +66,10 @@
 #include "sensor.h"
 #include "actuator.h"
 
-#if 0
 /* return 1 if there is a corn near, and fill the index ptr */
-uint8_t corn_is_near(int8_t *corn_idx, uint8_t side)
+int8_t corn_is_near(uint8_t *corn_idx, uint8_t side)
 {
+	/* XXX to be checked */
 #define SENSOR_CORN_DIST  225
 #define SENSOR_CORN_ANGLE 90
 	double x = position_get_x_double(&mainboard.pos);
@@ -90,11 +91,11 @@ uint8_t corn_is_near(int8_t *corn_idx, uint8_t side)
 	y_corn_int = y_corn;
 
 	wp = xycoord_to_corn_idx(&x_corn_int, &y_corn_int);
-	if (wp->corn.idx < 0)
+	if (wp == NULL)
 		return 0;
+	*corn_idx = wp->corn.idx;
 	return 1;
 }
-#endif
 
 /*
  * - send the correct commands to the spickles
@@ -130,8 +131,8 @@ static uint8_t handle_spickles(void)
 #endif
 }
 
-uint8_t line2line(uint8_t dir1, uint8_t num1,
-		  uint8_t dir2, uint8_t num2)
+uint8_t line2line(uint8_t num1, uint8_t dir1,
+		  uint8_t num2, uint8_t dir2)
 {
 	double line1_a_rad, line1_a_deg, line2_a_rad;
 	double diff_a_deg, diff_a_deg_abs, beta_deg;
@@ -140,15 +141,17 @@ uint8_t line2line(uint8_t dir1, uint8_t num1,
 	line_t ll1, ll2;
 	point_t p;
 	uint8_t err;
+	uint16_t a_speed, d_speed;
+	int8_t ret;
 
 	/* convert to 2 points */
 	num2line(&l1, dir1, num1);
 	num2line(&l2, dir2, num2);
 
-	printf_P(PSTR("A2 (%2.2f, %2.2f) -> (%2.2f, %2.2f)\r\n"),
-		 l1.p1.x, l1.p1.y, l1.p2.x, l1.p2.y);
-	printf_P(PSTR("B2 (%2.2f, %2.2f) -> (%2.2f, %2.2f)\r\n"),
-		 l2.p1.x, l2.p1.y, l2.p2.x, l2.p2.y);
+	DEBUG(E_USER_STRAT, "line1: (%2.2f, %2.2f) -> (%2.2f, %2.2f)",
+	      l1.p1.x, l1.p1.y, l1.p2.x, l1.p2.y);
+	DEBUG(E_USER_STRAT, "line2: (%2.2f, %2.2f) -> (%2.2f, %2.2f)",
+	      l2.p1.x, l2.p1.y, l2.p2.x, l2.p2.y);
 
 	/* convert to line eq and find intersection */
 	pts2line(&l1.p1, &l1.p2, &ll1);
@@ -195,10 +198,13 @@ uint8_t line2line(uint8_t dir1, uint8_t num1,
 	}
 
 	/* XXX check return value !! */
-	trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
-			   line1_a_deg, 150., diff_a_deg, beta_deg,
-			   radius, xy_norm(l1.p1.x, l1.p1.y,
-					   p.x, p.y));
+	ret = trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
+				 line1_a_deg, 150., diff_a_deg, beta_deg,
+				 radius, xy_norm(l1.p1.x, l1.p1.y,
+						 p.x, p.y));
+	if (ret < 0)
+		DEBUG(E_USER_STRAT, "clitoid failed");
+
 	/* disabled */
 	if (0) {
 		err = 0;
@@ -213,7 +219,17 @@ uint8_t line2line(uint8_t dir1, uint8_t num1,
 		}
 	}
 
-	err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+	err = WAIT_COND_OR_TRAJ_END(get_cob_count() == 5, 0xFF);
+	strat_get_speed(&d_speed, &a_speed);
+
+	/* XXX 600 -> cste */
+	/* XXX does not work, do better */
+/* 	if (err == 0 && d_speed < 600 && */
+/* 	    mainboard.traj.state == RUNNING_CLITOID_LINE) */
+/* 		strat_set_speed(600, SPEED_ANGLE_FAST); */
+
+	err = wait_traj_end(0xFF);
+
 	return err;
 }