cup1

diff --git a/projects/microb2010/ballboard/actuator.c b/projects/microb2010/ballboard/actuator.c
index 0dc89ff..c635fe9 100644 (file)
--- a/projects/microb2010/ballboard/actuator.c
+++ b/projects/microb2010/ballboard/actuator.c
@@ -49,7 +49,7 @@
 
 #define FORKROT_DEPLOYED -55000
 #define FORKROT_MID -33000
 
 #define FORKROT_DEPLOYED -55000
 #define FORKROT_MID -33000

-#define FORKROT_PACKED   0
+#define FORKROT_PACKED   -4000

 
 void roller_on(void)
 {
 
 void roller_on(void)
 {

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index 6bfd518..262f73c 100644 (file)
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -140,7 +140,7 @@ void microb_cs_init(void)
        bd_init(&ballboard.roller.bd);
 #define ROLLER_SPEED_THRES (ROLLER_SPEED * 0.75)
        bd_set_speed_threshold(&ballboard.roller.bd, ROLLER_SPEED_THRES);
        bd_init(&ballboard.roller.bd);
 #define ROLLER_SPEED_THRES (ROLLER_SPEED * 0.75)
        bd_set_speed_threshold(&ballboard.roller.bd, ROLLER_SPEED_THRES);

-       bd_set_current_thresholds(&ballboard.roller.bd, 500, 1500, 1000000, 20);
+       bd_set_current_thresholds(&ballboard.roller.bd, 500, 1500, 1200000, 70);

 
        /* ---- CS forktrans */
        /* PID */
 
        /* ---- CS forktrans */
        /* PID */

diff --git a/projects/microb2010/ballboard/state.c b/projects/microb2010/ballboard/state.c
index e777e49..6c229a4 100644 (file)
--- a/projects/microb2010/ballboard/state.c
+++ b/projects/microb2010/ballboard/state.c
@@ -174,7 +174,7 @@ static void state_do_eject(void)
                        }
 
                        /* timeout */
                        }
 
                        /* timeout */

-                       if ((time_get_us2() - us) > 1000UL * 1000UL) {
+                       if ((time_get_us2() - us) > 2000UL * 1000UL) {

                                STMCH_DEBUG("%s(): eject timeout", __FUNCTION__);
                                blocked = 1;
                                break;
                                STMCH_DEBUG("%s(): eject timeout", __FUNCTION__);
                                blocked = 1;
                                break;

diff --git a/projects/microb2010/cobboard/spickle.c b/projects/microb2010/cobboard/spickle.c
index 058a7b7..e04e18f 100644 (file)
--- a/projects/microb2010/cobboard/spickle.c
+++ b/projects/microb2010/cobboard/spickle.c
@@ -72,8 +72,8 @@ static struct spickle_params spickle = {
                &cobboard.right_spickle,
        },
        .pos_deployed = {
                &cobboard.right_spickle,
        },
        .pos_deployed = {

-               500,// 7000, // 200, /* left */
-               500,// 7000, // 200, /* right */
+               7000, // 200, /* left */
+               7000, // 200, /* right */

        },
        .pos_mid = {
                25000, /* left */
        },
        .pos_mid = {
                25000, /* left */

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 2d65208..535829f 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -294,6 +294,9 @@ static void state_do_harvest(uint8_t side)
                shovel_down();
                time_wait_ms(250);
                shovel_up();
                shovel_down();
                time_wait_ms(250);
                shovel_up();

+               /* if eject command is received, force exit */
+               if (EJECT(state_mode))
+                       return;

        }
 
        state_debug_wait_key_pressed();
        }
 
        state_debug_wait_key_pressed();

diff --git a/projects/microb2010/mainboard/beacon.c b/projects/microb2010/mainboard/beacon.c
index 13cd4cd..cc78ca7 100644 (file)
--- a/projects/microb2010/mainboard/beacon.c
+++ b/projects/microb2010/mainboard/beacon.c
@@ -55,7 +55,7 @@
 #include "main.h"
 #include "strat_utils.h"
 
 #include "main.h"
 #include "strat_utils.h"
 

-#define BEACON_UART_NUM 0
+#define BEACON_UART_NUM 2

 
 #define INIT 0
 #define OPP0 1
 
 #define INIT 0
 #define OPP0 1


@@ -69,6 +69,8 @@
 #define STA4 9
 #define STA5 10
 
 #define STA4 9
 #define STA5 10
 

+#define BEACON_ANGLE_OFFSET 449
+

 static volatile uint8_t opp_age = 0;
 static volatile int16_t opp_a = I2C_OPPONENT_NOT_THERE;
 static volatile int16_t opp_d = I2C_OPPONENT_NOT_THERE;
 static volatile uint8_t opp_age = 0;
 static volatile int16_t opp_a = I2C_OPPONENT_NOT_THERE;
 static volatile int16_t opp_d = I2C_OPPONENT_NOT_THERE;


@@ -78,7 +80,7 @@ static volatile int16_t pos_x = I2C_BEACON_NOT_FOUND;
 static volatile int16_t pos_y = I2C_BEACON_NOT_FOUND;
 static volatile int16_t pos_a = I2C_BEACON_NOT_FOUND;
 
 static volatile int16_t pos_y = I2C_BEACON_NOT_FOUND;
 static volatile int16_t pos_a = I2C_BEACON_NOT_FOUND;
 

-#define BEACON_OFFSET (-50.)
+#define BEACON_POS_OFFSET (-50.)

 int8_t beacon_get_pos_double(double *x, double *y, double *a_rad)
 {
        uint8_t flags;
 int8_t beacon_get_pos_double(double *x, double *y, double *a_rad)
 {
        uint8_t flags;


@@ -98,8 +100,8 @@ int8_t beacon_get_pos_double(double *x, double *y, double *a_rad)
        dtmpy = tmpy;
        dtmpa = RAD((double)tmpa / 10.);
 
        dtmpy = tmpy;
        dtmpa = RAD((double)tmpa / 10.);
 

-       dtmpx += cos(dtmpa) * BEACON_OFFSET;
-       dtmpx += sin(dtmpa) * BEACON_OFFSET;
+       dtmpx += cos(dtmpa) * BEACON_POS_OFFSET;
+       dtmpx += sin(dtmpa) * BEACON_POS_OFFSET;

 
        *x = dtmpx;
        *y = dtmpy;
 
        *x = dtmpx;
        *y = dtmpy;


@@ -215,7 +217,7 @@ static void beacon_opponent_event(void)
 
        /* if beacon is too old, remove it */
        IRQ_LOCK(flags);
 
        /* if beacon is too old, remove it */
        IRQ_LOCK(flags);

-       if (opp_age < 3)
+       if (opp_age < 50)

                opp_age ++;
        else {
                beaconboard.oppx = I2C_OPPONENT_NOT_THERE;
                opp_age ++;
        else {
                beaconboard.oppx = I2C_OPPONENT_NOT_THERE;


@@ -227,6 +229,9 @@ static void beacon_opponent_event(void)
        id = opp_d;
        IRQ_UNLOCK(flags);
 
        id = opp_d;
        IRQ_UNLOCK(flags);
 

+       ia = (ia + BEACON_ANGLE_OFFSET);
+       if (ia > 3600)
+               ia -= 3600;

        fa = ia;
        fa = RAD(fa);
        fd = id;
        fa = ia;
        fa = RAD(fa);
        fd = id;


@@ -238,7 +243,7 @@ static void beacon_opponent_event(void)
        IRQ_LOCK(flags);
        beaconboard.oppx = ix;
        beaconboard.oppy = iy;
        IRQ_LOCK(flags);
        beaconboard.oppx = ix;
        beaconboard.oppy = iy;

-       beaconboard.oppa = ia;
+       beaconboard.oppa = ia / 10;

        beaconboard.oppd = id;
        IRQ_UNLOCK(flags);
 #endif
        beaconboard.oppd = id;
        IRQ_UNLOCK(flags);
 #endif

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 03bc688..f98bd99 100755 (executable)
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -93,7 +93,7 @@
  * and diameter: 55mm -> perimeter 134mm
  * dist_imp_mm = 4096/134 x 10 -> 304 */
 /* increase it to go further */
  * and diameter: 55mm -> perimeter 134mm
  * dist_imp_mm = 4096/134 x 10 -> 304 */
 /* increase it to go further */

-#define IMP_ENCODERS 1024
+#define IMP_ENCODERS 1000

 #define WHEEL_DIAMETER_MM 42.9
 #define WHEEL_PERIM_MM (WHEEL_DIAMETER_MM * M_PI)
 #define IMP_COEF 10.
 #define WHEEL_DIAMETER_MM 42.9
 #define WHEEL_PERIM_MM (WHEEL_DIAMETER_MM * M_PI)
 #define IMP_COEF 10.

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 64562f5..7f7b9d9 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -501,6 +501,7 @@ static uint8_t strat_eject(void)
        /* ball ejection */
        if (get_ball_count() > 0) {
                i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
        /* ball ejection */
        if (get_ball_count() > 0) {
                i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);

+               time_wait_ms(300);

                trajectory_a_abs(&mainboard.traj, COLOR_A(70));
                err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
                if (!TRAJ_SUCCESS(err))
                trajectory_a_abs(&mainboard.traj, COLOR_A(70));
                err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
                if (!TRAJ_SUCCESS(err))


@@ -517,6 +518,10 @@ static uint8_t strat_eject(void)
                                     2000);
 #endif
        }
                                     2000);
 #endif
        }

+       else {
+               /* to pack spickles */
+               time_wait_ms(300);
+       }

 
        if (get_cob_count() > 0) {
                /* half turn */
 
        if (get_cob_count() > 0) {
                /* half turn */


@@ -904,7 +909,12 @@ uint8_t run_to_the_hills(uint8_t orange_color)
        strat_hardstop();
        i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
 
        strat_hardstop();
        i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
 

-       time_wait_ms(1800);
+       time_wait_ms(1100);
+
+       trajectory_d_rel(&mainboard.traj, 15);
+       time_wait_ms(400);
+       strat_hardstop();
+       time_wait_ms(200);

 
        /* reach top, go down */
        trajectory_d_rel(&mainboard.traj, -HILL_LEN);
 
        /* reach top, go down */
        trajectory_d_rel(&mainboard.traj, -HILL_LEN);

diff --git a/projects/microb2010/mainboard/strat_base.c b/projects/microb2010/mainboard/strat_base.c
index d68f5a6..023db36 100644 (file)
--- a/projects/microb2010/mainboard/strat_base.c
+++ b/projects/microb2010/mainboard/strat_base.c
@@ -414,11 +414,12 @@ uint8_t strat_obstacle(void)
        y_rel = sin(RAD(opp_a)) * (double)opp_d;
 
        /* opponent too far */
        y_rel = sin(RAD(opp_a)) * (double)opp_d;
 
        /* opponent too far */

-       if (opp_d > 500)
+       if (opp_d > 650)

                return 0;
 
        /* opponent is in front of us */
                return 0;
 
        /* opponent is in front of us */

-       if (mainboard.speed_d > 0 && (opp_a > 325 || opp_a < 35)) {
+       if ((mainboard.speed_d > 0 && opp_d < 500 && (opp_a > 325 || opp_a < 35)) &&
+           (mainboard.speed_d > 0 && opp_d < 650 && (opp_a > 340 || opp_a < 20))) {

                DEBUG(E_USER_STRAT, "opponent front d=%d, a=%d "
                      "xrel=%d yrel=%d (speed_d=%d)",
                      opp_d, opp_a, x_rel, y_rel, mainboard.speed_d);
                DEBUG(E_USER_STRAT, "opponent front d=%d, a=%d "
                      "xrel=%d yrel=%d (speed_d=%d)",
                      opp_d, opp_a, x_rel, y_rel, mainboard.speed_d);


@@ -426,7 +427,8 @@ uint8_t strat_obstacle(void)
                return 1;
        }
        /* opponent is behind us */
                return 1;
        }
        /* opponent is behind us */

-       if (mainboard.speed_d < 0 && (opp_a < 215 && opp_a > 145)) {
+       if ((mainboard.speed_d < 0 && opp_d < 500 && (opp_a < 215 && opp_a > 145)) &&
+           (mainboard.speed_d < 0 && opp_d < 650 && (opp_a < 200 && opp_a > 160))) {

                DEBUG(E_USER_STRAT, "opponent behind d=%d, a=%d xrel=%d yrel=%d",
                      opp_d, opp_a, x_rel, y_rel);
                sensor_obstacle_disable();
                DEBUG(E_USER_STRAT, "opponent behind d=%d, a=%d xrel=%d yrel=%d",
                      opp_d, opp_a, x_rel, y_rel);
                sensor_obstacle_disable();

diff --git a/projects/microb2010/mainboard/uart_config.h b/projects/microb2010/mainboard/uart_config.h
index dc6117a..52a083a 100644 (file)
--- a/projects/microb2010/mainboard/uart_config.h
+++ b/projects/microb2010/mainboard/uart_config.h
@@ -27,33 +27,33 @@
 #define UART_CONFIG_H\r
 \r
 /*\r
 #define UART_CONFIG_H\r
 \r
 /*\r

- * UART0 definitions\r
+ * UART2 definitions\r

  */\r
 \r
  */\r
 \r

-/* compile uart0 fonctions, undefine it to pass compilation */\r
-#define UART0_COMPILE\r
+/* compile uart2 fonctions, undefine it to pass compilation */\r
+#define UART2_COMPILE\r

 \r
 \r

-/* enable uart0 if == 1, disable if == 0 */\r
-#define UART0_ENABLED  1\r
+/* enable uart2 if == 1, disable if == 0 */\r
+#define UART2_ENABLED  1\r

 \r
 \r

-/* enable uart0 interrupts if == 1, disable if == 0 */\r
-#define UART0_INTERRUPT_ENABLED  1\r
+/* enable uart2 interrupts if == 1, disable if == 0 */\r
+#define UART2_INTERRUPT_ENABLED  1\r

 \r
 \r

-#define UART0_BAUDRATE 57600\r
+#define UART2_BAUDRATE 57600\r

 \r
 /*\r
  * if you enable this, the maximum baudrate you can reach is\r
  * higher, but the precision is lower.\r
  */\r
 \r
 /*\r
  * if you enable this, the maximum baudrate you can reach is\r
  * higher, but the precision is lower.\r
  */\r

-#define UART0_USE_DOUBLE_SPEED 1\r
+#define UART2_USE_DOUBLE_SPEED 1\r

 \r
 \r

-#define UART0_RX_FIFO_SIZE 64\r
-#define UART0_TX_FIFO_SIZE 64\r
-#define UART0_NBITS 8\r
+#define UART2_RX_FIFO_SIZE 64\r
+#define UART2_TX_FIFO_SIZE 64\r
+#define UART2_NBITS 8\r

 \r
 \r

-#define UART0_PARITY UART_PARTITY_NONE\r
+#define UART2_PARITY UART_PARTITY_NONE\r

 \r
 \r

-#define UART0_STOP_BIT UART_STOP_BITS_1\r
+#define UART2_STOP_BIT UART_STOP_BITS_1\r

 \r
 /*\r
  * UART1 definitions\r
 \r
 /*\r
  * UART1 definitions\r