+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
+ if (orange_color == I2C_COLOR_YELLOW)
+ starty = HILL_POSY_YELLOW;
+ else
+ starty = HILL_POSY_BLUE;
+ if (orange_color == our_color)
+ startx = posx;
+ else
+ startx = AREA_X - posx;
+ trajectory_goto_forward_xy_abs(&mainboard.traj, startx, COLOR_Y(starty));
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ /* turn to the hills */
+ if (orange_color == our_color)
+ trajectory_a_abs(&mainboard.traj, COLOR_A(HILL_ANGLE));
+ else
+ trajectory_a_abs(&mainboard.traj, COLOR_A(-180+HILL_ANGLE));
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ return END_TRAJ;
+}
+
+/* get oranges, must be called near game area */
+uint8_t run_to_the_hills(uint8_t orange_color)
+{
+ double aa, ad;
+ uint16_t sa, sd;
+ uint8_t err;
+ uint8_t our_color = get_color();
+ int32_t p = pid_get_gain_P(&mainboard.angle.pid);
+ int32_t i = pid_get_gain_I(&mainboard.angle.pid);
+ int32_t d = pid_get_gain_D(&mainboard.angle.pid);
+ int32_t max_in = pid_get_max_in(&mainboard.angle.pid);
+ int32_t max_i = pid_get_max_I(&mainboard.angle.pid);
+ int32_t max_out = pid_get_max_out(&mainboard.angle.pid);
+
+ strat_want_pack = 1;
+ strat_get_acc(&ad, &aa);
+ strat_get_speed(&sd, &sa);
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+ err = prepare_hill(orange_color, HILL_START_POSX);
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ strat_set_acc(5, ACC_ANGLE);
+ strat_set_speed(300, SPEED_ANGLE_SLOW);
+ bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 2000000, 80);
+ bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 2000000, 80);
+ bd_set_speed_threshold(&mainboard.distance.bd, 10);
+ support_balls_pack();
+
+ /* decrease angle gains */
+ pid_set_gains(&mainboard.angle.pid, 200, 0, 2000);
+
+ /* here it is difficult to handle return values, because we
+ * are on the hill */
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
+ trajectory_d_rel(&mainboard.traj, HILL_LEN);
+ if (orange_color == our_color)
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
+ HILL_POSX_BALLS_DOWN1,
+ TRAJ_FLAGS_SMALL_DIST);
+ else
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
+ AREA_X - HILL_POSX_BALLS_DOWN1,
+ TRAJ_FLAGS_SMALL_DIST);
+ DEBUG(E_USER_STRAT, "deploy support balls");
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
+ support_balls_deploy();
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_UP);
+ trajectory_only_a_rel(&mainboard.traj, 2);
+ err = WAIT_COND_OR_TE_TO(0, 0, 2200);
+
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
+ strat_set_acc(3, 3);
+ strat_hardstop();
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
+
+ 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);
+
+ if (orange_color == our_color)
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
+ HILL_POSX_BALLS_DOWN2,
+ TRAJ_FLAGS_SMALL_DIST);
+ else
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
+ AREA_X - HILL_POSX_BALLS_DOWN2,
+ TRAJ_FLAGS_SMALL_DIST);
+ DEBUG(E_USER_STRAT, "pack support balls");
+ support_balls_pack();
+ if (orange_color == our_color)
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
+ HILL_POSX_BALLS_DOWN3,
+ TRAJ_FLAGS_SMALL_DIST);
+ else
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
+ AREA_X - HILL_POSX_BALLS_DOWN3,
+ TRAJ_FLAGS_SMALL_DIST);
+
+ DEBUG(E_USER_STRAT, "deploy support balls");
+ strat_set_acc(ad, aa);
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+ support_balls_deploy();
+
+ /* wait to be near the wall */
+ if (orange_color == our_color)
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) < 300,
+ TRAJ_FLAGS_SMALL_DIST);
+ else
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
+ AREA_X - 300,
+ TRAJ_FLAGS_SMALL_DIST);
+
+ /* restore BD coefs */
+ bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
+ bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
+ bd_set_speed_threshold(&mainboard.distance.bd, 60);
+
+ /* calibrate position on the wall */
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_SLOW);
+
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+
+ trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ time_wait_ms(200);
+
+ err = strat_calib(400, TRAJ_FLAGS_SMALL_DIST);
+ strat_reset_pos(DO_NOT_SET_POS,
+ COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
+ COLOR_A(-90) + ROBOT_ANGLE_FRONT);
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
+ trajectory_d_rel(&mainboard.traj, -250);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (orange_color == our_color)
+ trajectory_a_abs(&mainboard.traj, 180);
+ else
+ trajectory_a_abs(&mainboard.traj, 0);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ time_wait_ms(200);
+
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
+ err = strat_calib(400, TRAJ_FLAGS_SMALL_DIST);
+ if (orange_color == our_color)
+ strat_reset_pos(ROBOT_HALF_LENGTH_FRONT,
+ DO_NOT_SET_POS,
+ 180 + ROBOT_ANGLE_FRONT);
+ else
+ strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_FRONT,
+ DO_NOT_SET_POS,
+ 0 + ROBOT_ANGLE_FRONT);
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
+ trajectory_d_rel(&mainboard.traj, -250);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+ /* revert acceleration and speed */
+ pid_set_gains(&mainboard.angle.pid, p, i, d);
+ pid_set_maximums(&mainboard.distance.pid, max_in, max_i, max_out);
+ strat_want_pack = 0;
+ strat_set_speed(sd, sa);
+ support_balls_deploy();
+ return err;
+}
+
+uint8_t strat_main(void)
+{
+ uint8_t err, do_initturn = 1;
+
+ /* get oranges */
+ if (strat_conf.flags & STRAT_CONF_OUR_ORANGE) {
+ err = run_to_the_hills(get_color());
+ strat_db.our_oranges_count = 0;
+ do_initturn = 0;
+ }
+