2 * Copyright Droids, Microb Technology (2009)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
20 * Olivier MATZ <zer0@droids-corp.org>
28 #include <aversive/pgmspace.h>
29 #include <aversive/queue.h>
30 #include <aversive/wait.h>
31 #include <aversive/error.h>
36 #include <clock_time.h>
41 #include <control_system_manager.h>
42 #include <trajectory_manager.h>
43 #include <vect_base.h>
46 #include <obstacle_avoidance.h>
47 #include <blocking_detection_manager.h>
48 #include <robot_system.h>
49 #include <position_manager.h>
51 #include <diagnostic.h>
56 #include "../common/i2c_commands.h"
57 #include "i2c_protocol.h"
61 #include "strat_base.h"
62 #include "strat_corn.h"
63 #include "strat_utils.h"
64 #include "strat_avoid.h"
68 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
69 #define COL_SCAN_PRE_MARGIN 250
71 static volatile uint8_t strat_running = 0;
72 static volatile uint8_t want_pack = 0;
73 volatile uint8_t strat_lpack60 = 0;
74 volatile uint8_t strat_rpack60 = 0;
75 struct strat_conf strat_conf;
77 /*************************************************************/
81 /*************************************************************/
83 /* called before each strat, and before the start switch */
84 void strat_preinit(void)
87 interrupt_traj_reset();
88 mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
89 DO_POS | DO_BD | DO_POWER;
92 strat_conf_dump(__FUNCTION__);
93 strat_db_dump(__FUNCTION__);
96 void strat_conf_dump(const char *caller)
98 if (!strat_conf.dump_enabled)
101 printf_P(PSTR("-- conf --\r\n"));
105 void strat_event_enable(void)
110 void strat_event_disable(void)
115 /* call it just before launching the strat */
116 void strat_init(void)
119 position_set(&mainboard.pos, 258.,
120 COLOR_Y(246.), COLOR_A(45.));
123 /* we consider that the color is correctly set */
125 strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
127 interrupt_traj_reset();
129 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
130 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
132 /* used in strat_base for END_TIMER */
133 mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
134 DO_POS | DO_BD | DO_TIMER | DO_POWER;
137 /* call it after each strat */
138 void strat_exit(void)
145 mainboard.flags &= ~(DO_TIMER);
151 mainboard.flags &= ~(DO_CS);
153 pwm_ng_set(LEFT_PWM, 0);
154 pwm_ng_set(RIGHT_PWM, 0);
158 /* mark tomato as not present */
159 static void check_tomato(void)
164 x = position_get_x_s16(&mainboard.pos);
165 y = position_get_y_s16(&mainboard.pos);
167 if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
170 if (strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
173 strat_db.wp_table[i][j].present = 0;
176 /* mark corn as not present and give correct commands to the cobboard
178 static void check_corn(void)
181 int8_t lcob_near, rcob_near;
185 /* read sensors from ballboard */
187 lcob = ballboard.lcob;
188 ballboard.lcob = I2C_COB_NONE;
189 rcob = ballboard.rcob;
190 ballboard.rcob = I2C_COB_NONE;
193 /* if (lcob != I2C_COB_NONE) */
194 /* DEBUG(E_USER_STRAT, "XXX lcob %s", */
195 /* lcob == I2C_COB_WHITE ? "white" : "black"); */
196 /* if (rcob != I2C_COB_NONE) */
197 /* DEBUG(E_USER_STRAT, "XXX rcob %s", */
198 /* rcob == I2C_COB_WHITE ? "white" : "black"); */
199 /* XXX take opponent position into account */
202 if (time_get_s() == 15)
203 cobboard.cob_count = 5;
204 if (time_get_s() == 16)
205 cobboard.cob_count = 0;
208 /* detect cob on left side */
209 lcob_near = corn_is_near(&lidx, I2C_LEFT_SIDE);
210 if (lcob_near && lcob != I2C_COB_NONE) {
211 if (strat_db.corn_table[lidx]->corn.color == I2C_COB_UNKNOWN)
212 DEBUG(E_USER_STRAT, "lcob %s %d",
213 lcob == I2C_COB_WHITE ? "white" : "black", lidx);
214 corn_set_color(strat_db.corn_table[lidx], lcob);
217 /* detect cob on right side */
218 rcob_near = corn_is_near(&ridx, I2C_RIGHT_SIDE);
219 if (rcob_near && rcob != I2C_COB_NONE) {
220 if (strat_db.corn_table[ridx]->corn.color == I2C_COB_UNKNOWN)
221 DEBUG(E_USER_STRAT, "rcob %s %d",
222 rcob == I2C_COB_WHITE ? "white" : "black", ridx);
223 corn_set_color(strat_db.corn_table[ridx], rcob);
226 /* control the cobboard mode for left spickle */
227 if (lcob_near && strat_db.corn_table[lidx]->present) {
228 if (get_cob_count() >= 5 || want_pack || strat_lpack60) {
232 /* deploy spickle and harvest white ones */
233 if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE) {
234 i2c_cobboard_autoharvest_nomove(I2C_LEFT_SIDE);
235 if (cobboard.status == I2C_COBBOARD_STATUS_LBUSY)
236 strat_db.corn_table[lidx]->present = 0;
239 i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
243 /* no cob near us, we can pack or deploy freely */
244 if (get_cob_count() >= 5 || want_pack || strat_lpack60)
245 i2c_cobboard_pack(I2C_LEFT_SIDE);
247 i2c_cobboard_deploy(I2C_LEFT_SIDE);
250 /* control the cobboard mode for right spickle */
251 if (rcob_near && strat_db.corn_table[ridx]->present) {
252 if (get_cob_count() >= 5 || want_pack || strat_rpack60) {
256 /* deploy spickle and harvest white ones */
257 if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE) {
258 i2c_cobboard_autoharvest_nomove(I2C_RIGHT_SIDE);
259 if (cobboard.status == I2C_COBBOARD_STATUS_RBUSY)
260 strat_db.corn_table[ridx]->present = 0;
263 i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
267 /* no cob near us, we can pack or deploy freely */
268 if (get_cob_count() >= 5 || want_pack || strat_rpack60)
269 i2c_cobboard_pack(I2C_RIGHT_SIDE);
271 i2c_cobboard_deploy(I2C_RIGHT_SIDE);
275 /* called periodically (10ms) */
276 void strat_event(void *dummy)
278 /* ignore when strat is not running */
279 if (strat_running == 0)
284 /* limit speed when opponent is near */
285 //strat_limit_speed();
289 static uint8_t strat_harvest(void)
294 /* must be called from a terminal line */
295 static uint8_t strat_eject(void)
300 /* go to eject point */
301 trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
302 err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5,
306 strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
307 err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
311 strat_event_disable();
312 i2c_cobboard_pack(I2C_LEFT_SIDE);
313 i2c_cobboard_pack(I2C_RIGHT_SIDE);
316 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
317 trajectory_a_abs(&mainboard.traj, COLOR_A(70));
318 err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
320 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
325 WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
327 WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
332 trajectory_a_rel(&mainboard.traj, COLOR_A(180));
333 err = wait_traj_end(END_INTR|END_TRAJ);
336 trajectory_d_rel(&mainboard.traj, -70);
337 err = wait_traj_end(END_INTR|END_TRAJ);
339 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
340 strat_db_dump(__FUNCTION__);
343 strat_event_enable();
348 static uint8_t strat_beginning(void)
352 strat_set_acc(ACC_DIST, ACC_ANGLE);
353 strat_set_speed(600, 60); /* OK */
354 //strat_set_speed(250, 28); /* OK */
356 trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
357 err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
360 strat_set_acc(ACC_DIST, ACC_ANGLE);
361 strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
364 DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
365 err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
366 if (!TRAJ_SUCCESS(err)) {
373 DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
374 err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
375 if (!TRAJ_SUCCESS(err)) {
384 strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
385 strat_harvest_circuit();
392 /* dump state (every 5 s max) */
393 #define DUMP_RATE_LIMIT(dump, last_print) \
395 if (time_get_s() - last_print > 5) { \
397 last_print = time_get_s(); \
402 /* return true if we need to grab some more elements */
403 static uint8_t need_more_elements(void)
405 if (time_get_s() <= 75) {
406 /* we have enough time left */
407 if (get_ball_count() >= 4)
409 if (get_cob_count() >= 4)
411 if ((get_ball_count() >= 2) &&
412 (get_cob_count() >= 2))
417 /* not much time remaining */
418 if ((get_ball_count() >= 1) &&
419 (get_cob_count() >= 1))
425 uint8_t strat_main(void)
429 /* harvest the first cobs + balls */
430 err = strat_beginning();
433 /* end of time exit ! */
434 if (err == END_TIMER) {
435 DEBUG(E_USER_STRAT, "End of time");
440 if (need_more_elements() == 0) {
441 /* we have enough elements, go to eject */
443 if (!TRAJ_SUCCESS(err))
448 err = strat_harvest();
449 if (!TRAJ_SUCCESS(err))