From dab083b5d263fdf9675362bfe5a85f993a43a6c6 Mon Sep 17 00:00:00 2001
From: zer0 <zer0@carbon.local>
Date: Wed, 5 May 2010 20:54:41 +0200
Subject: [PATCH] back to old plate

---
 projects/microb2010/cobboard/shovel.c         |  2 +-
 projects/microb2010/mainboard/commands_traj.c |  6 ++---
 projects/microb2010/mainboard/i2c_protocol.c  |  7 +-----
 projects/microb2010/mainboard/robotsim.c      | 23 ++++++-------------
 projects/microb2010/mainboard/strat.c         |  5 ++--
 5 files changed, 15 insertions(+), 28 deletions(-)

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index bd0c7c9..b2a8cc0 100644
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -44,7 +44,7 @@
 #include "shovel.h"
 
 #define SHOVEL_DOWN 100
-#define SHOVEL_MID  5250
+#define SHOVEL_MID  4500
 #define SHOVEL_UP   11000
 
 /* init spickle position at beginning */
diff --git a/projects/microb2010/mainboard/commands_traj.c b/projects/microb2010/mainboard/commands_traj.c
index 92ab9a0..1898bd8 100644
--- a/projects/microb2010/mainboard/commands_traj.c
+++ b/projects/microb2010/mainboard/commands_traj.c
@@ -833,7 +833,7 @@ static void auto_position(void)
 			COLOR_A(-90));
 	strat_hardstop();
 
-	trajectory_d_rel(&mainboard.traj, -70);
+	trajectory_d_rel(&mainboard.traj, -180);
 	err = wait_traj_end(END_INTR|END_TRAJ);
 	if (err == END_INTR)
 		goto intr;
@@ -853,13 +853,13 @@ static void auto_position(void)
 			180);
 	strat_hardstop();
 
-	trajectory_d_rel(&mainboard.traj, -80);
+	trajectory_d_rel(&mainboard.traj, -170);
 	err = wait_traj_end(END_INTR|END_TRAJ);
 	if (err == END_INTR)
 		goto intr;
 	time_wait_ms(250);
 
-	trajectory_a_rel(&mainboard.traj, COLOR_A(-135));
+	trajectory_a_rel(&mainboard.traj, COLOR_A(-110));
 	err = wait_traj_end(END_INTR|END_TRAJ);
 	if (err == END_INTR)
 		goto intr;
diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index 3354e39..7a2c378 100644
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -403,8 +403,7 @@ int8_t i2c_led_control(uint8_t addr, uint8_t led, uint8_t state)
 int8_t i2c_cobboard_set_mode(uint8_t mode)
 {
 #ifdef HOST_VERSION
-	cobboard.mode = mode;
-	return 0;
+	return robotsim_i2c_cobboard_set_mode(mode);
 #else
 	struct i2c_cmd_cobboard_set_mode buf;
 	buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
@@ -415,15 +414,11 @@ int8_t i2c_cobboard_set_mode(uint8_t mode)
 
 static int8_t i2c_cobboard_set_spickle(uint8_t side, uint8_t flags)
 {
-#ifdef HOST_VERSION
-	return robotsim_i2c_cobboard_set_spickles(side, flags);
-#else
 	if (side == I2C_LEFT_SIDE)
 		cobboard.lspickle = flags;
 	else
 		cobboard.rspickle = flags;
 	return 0;
-#endif
 }
 
 int8_t i2c_cobboard_pack(uint8_t side)
diff --git a/projects/microb2010/mainboard/robotsim.c b/projects/microb2010/mainboard/robotsim.c
index 7c52835..2d0d7be 100644
--- a/projects/microb2010/mainboard/robotsim.c
+++ b/projects/microb2010/mainboard/robotsim.c
@@ -111,25 +111,16 @@ robotsim_i2c_ballboard_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
 }
 
 int8_t
-robotsim_i2c_cobboard_set_spickles(uint8_t side, uint8_t flags)
+robotsim_i2c_cobboard_set_mode(uint8_t mode)
 {
 	char buf[BUFSIZ];
 	int len;
 
-	if (side == I2C_LEFT_SIDE) {
-		if (cobboard.lspickle == flags)
-			return 0;
-		else
-			cobboard.lspickle = flags;
-	}
-	if (side == I2C_RIGHT_SIDE) {
-		if (cobboard.rspickle == flags)
-			return 0;
-		else
-			cobboard.rspickle = flags;
-	}
+	if (cobboard.mode == mode)
+		return 0;
 
-	len = snprintf(buf, sizeof(buf), "cobboard=%d,%d\n", side, flags);
+	cobboard.mode = mode;
+	len = snprintf(buf, sizeof(buf), "cobboard=%d\n", mode);
 	hostsim_lock();
 	write(fdw, buf, len);
 	hostsim_unlock();
@@ -227,8 +218,8 @@ void robotsim_update(void)
 		((local_r_pwm * 1000 * FILTER2)/1000);
 
 	/* basic collision detection */
-	a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_FRONT);
-	d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_FRONT);
+	a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
+	d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_REAR);
 
 	xfl = x + cos(a+a2) * d;
 	yfl = y + sin(a+a2) * d;
diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index db2221f..ad37ec4 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -350,9 +350,10 @@ static uint8_t strat_beginning(void)
 	uint8_t err;
 
 	strat_set_acc(ACC_DIST, ACC_ANGLE);
-	strat_set_speed(400, 150); /* OK */
+	strat_set_speed(600, 60); /* OK */
+	//strat_set_speed(250, 28); /* OK */
 
-	trajectory_d_a_rel(&mainboard.traj, 800, COLOR_A(45));
+	trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
 	err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 				    TRAJ_FLAGS_STD);
 
-- 
2.20.1