/*
* Copyright Droids Corporation (2009)
- *
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
*
* Revision : $Id: commands_traj.c,v 1.8 2009-11-08 17:24:33 zer0 Exp $
*
- * Olivier MATZ <zer0@droids-corp.org>
+ * Olivier MATZ <zer0@droids-corp.org>
*/
#include <stdio.h>
#include <string.h>
+#include <hostsim.h>
#include <aversive/pgmspace.h>
#include <aversive/wait.h>
#include <aversive/error.h>
#include <quadramp.h>
#include <control_system_manager.h>
#include <trajectory_manager.h>
+#include <trajectory_manager_utils.h>
#include <vect_base.h>
#include <lines.h>
#include <polygon.h>
#include "strat_utils.h"
#include "strat_base.h"
#include "strat.h"
+#include "strat_db.h"
#include "../common/i2c_commands.h"
#include "i2c_protocol.h"
struct cmd_traj_speed_result {
fixed_string_t arg0;
fixed_string_t arg1;
- uint16_t s;
+ float s;
};
/* function called when cmd_traj_speed is parsed successfully */
static void cmd_traj_speed_parsed(void *parsed_result, void *data)
{
struct cmd_traj_speed_result * res = parsed_result;
-
+
if (!strcmp_P(res->arg1, PSTR("angle"))) {
trajectory_set_speed(&mainboard.traj, mainboard.traj.d_speed, res->s);
}
}
/* else it is a "show" */
- printf_P(PSTR("angle %u, distance %u\r\n"),
+ printf_P(PSTR("angle %2.2f, distance %2.2f\r\n"),
mainboard.traj.a_speed,
mainboard.traj.d_speed);
}
parse_pgm_token_string_t cmd_traj_speed_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg0, str_traj_speed_arg0);
prog_char str_traj_speed_arg1[] = "angle#distance";
parse_pgm_token_string_t cmd_traj_speed_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg1, str_traj_speed_arg1);
-parse_pgm_token_num_t cmd_traj_speed_s = TOKEN_NUM_INITIALIZER(struct cmd_traj_speed_result, s, UINT16);
+parse_pgm_token_num_t cmd_traj_speed_s = TOKEN_NUM_INITIALIZER(struct cmd_traj_speed_result, s, FLOAT);
prog_char help_traj_speed[] = "Set traj_speed values for trajectory manager";
parse_pgm_inst_t cmd_traj_speed = {
.data = NULL, /* 2nd arg of func */
.help_str = help_traj_speed,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_traj_speed_arg0,
- (prog_void *)&cmd_traj_speed_arg1,
- (prog_void *)&cmd_traj_speed_s,
+ (prog_void *)&cmd_traj_speed_arg0,
+ (prog_void *)&cmd_traj_speed_arg1,
+ (prog_void *)&cmd_traj_speed_s,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_traj_speed_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_traj_speed_arg0,
+ (prog_void *)&cmd_traj_speed_arg0,
(prog_void *)&cmd_traj_speed_show_arg,
NULL,
},
};
+/**********************************************************/
+/* Traj_Accs for trajectory_manager */
+
+/* this structure is filled when cmd_traj_acc is parsed successfully */
+struct cmd_traj_acc_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ float s;
+};
+
+/* function called when cmd_traj_acc is parsed successfully */
+static void cmd_traj_acc_parsed(void *parsed_result, void *data)
+{
+ struct cmd_traj_acc_result * res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("angle"))) {
+ trajectory_set_acc(&mainboard.traj, mainboard.traj.d_acc, res->s);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("distance"))) {
+ trajectory_set_acc(&mainboard.traj, res->s, mainboard.traj.a_acc);
+ }
+ /* else it is a "show" */
+
+ printf_P(PSTR("angle %2.2f, distance %2.2f\r\n"),
+ mainboard.traj.a_acc,
+ mainboard.traj.d_acc);
+}
+
+prog_char str_traj_acc_arg0[] = "traj_acc";
+parse_pgm_token_string_t cmd_traj_acc_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_traj_acc_result, arg0, str_traj_acc_arg0);
+prog_char str_traj_acc_arg1[] = "angle#distance";
+parse_pgm_token_string_t cmd_traj_acc_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_traj_acc_result, arg1, str_traj_acc_arg1);
+parse_pgm_token_num_t cmd_traj_acc_s = TOKEN_NUM_INITIALIZER(struct cmd_traj_acc_result, s, FLOAT);
+
+prog_char help_traj_acc[] = "Set traj_acc values for trajectory manager";
+parse_pgm_inst_t cmd_traj_acc = {
+ .f = cmd_traj_acc_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_traj_acc,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_traj_acc_arg0,
+ (prog_void *)&cmd_traj_acc_arg1,
+ (prog_void *)&cmd_traj_acc_s,
+ NULL,
+ },
+};
+
+/* show */
+
+prog_char str_traj_acc_show_arg[] = "show";
+parse_pgm_token_string_t cmd_traj_acc_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_traj_acc_result, arg1, str_traj_acc_show_arg);
+
+prog_char help_traj_acc_show[] = "Show traj_acc values for trajectory manager";
+parse_pgm_inst_t cmd_traj_acc_show = {
+ .f = cmd_traj_acc_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_traj_acc_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_traj_acc_arg0,
+ (prog_void *)&cmd_traj_acc_show_arg,
+ NULL,
+ },
+};
+
/**********************************************************/
/* circle coef configuration */
trajectory_set_circle_coef(&mainboard.traj, res->circle_coef);
}
- printf_P(PSTR("circle_coef %2.2f\r\n"), mainboard.traj.circle_coef);
+ printf_P(PSTR("circle_coef set %2.2f\r\n"), mainboard.traj.circle_coef);
}
prog_char str_circle_coef_arg0[] = "circle_coef";
.data = NULL, /* 2nd arg of func */
.help_str = help_circle_coef_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_circle_coef_arg0,
+ (prog_void *)&cmd_circle_coef_arg0,
(prog_void *)&cmd_circle_coef_show_arg,
NULL,
},
static void cmd_trajectory_parsed(void * parsed_result, void * data)
{
struct cmd_trajectory_result * res = parsed_result;
-
+
if (!strcmp_P(res->arg1, PSTR("set"))) {
trajectory_set_windows(&mainboard.traj, res->d_win,
res->a_win, res->a_start);
.data = NULL, /* 2nd arg of func */
.help_str = help_trajectory,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_trajectory_arg0,
- (prog_void *)&cmd_trajectory_arg1,
- (prog_void *)&cmd_trajectory_d,
- (prog_void *)&cmd_trajectory_a,
- (prog_void *)&cmd_trajectory_as,
+ (prog_void *)&cmd_trajectory_arg0,
+ (prog_void *)&cmd_trajectory_arg1,
+ (prog_void *)&cmd_trajectory_d,
+ (prog_void *)&cmd_trajectory_a,
+ (prog_void *)&cmd_trajectory_as,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_trajectory_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_trajectory_arg0,
+ (prog_void *)&cmd_trajectory_arg0,
(prog_void *)&cmd_trajectory_show_arg,
NULL,
},
/* function called when cmd_rs_gains is parsed successfully */
static void cmd_rs_gains_parsed(void * parsed_result, void * data)
{
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
struct cmd_rs_gains_result * res = parsed_result;
if (!strcmp_P(res->arg1, PSTR("set"))) {
- rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
+ rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
LEFT_ENCODER, res->left); // en augmentant on tourne à gauche
- rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
+ rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
RIGHT_ENCODER, res->right); //en augmentant on tourne à droite
}
printf_P(PSTR("rs_gains set %2.2f %2.2f\r\n"),
mainboard.rs.left_ext_gain, mainboard.rs.right_ext_gain);
+#endif
}
prog_char str_rs_gains_arg0[] = "rs_gains";
.data = NULL, /* 2nd arg of func */
.help_str = help_rs_gains,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_rs_gains_arg0,
- (prog_void *)&cmd_rs_gains_arg1,
- (prog_void *)&cmd_rs_gains_l,
- (prog_void *)&cmd_rs_gains_r,
+ (prog_void *)&cmd_rs_gains_arg0,
+ (prog_void *)&cmd_rs_gains_arg1,
+ (prog_void *)&cmd_rs_gains_l,
+ (prog_void *)&cmd_rs_gains_r,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_rs_gains_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_rs_gains_arg0,
+ (prog_void *)&cmd_rs_gains_arg0,
(prog_void *)&cmd_rs_gains_show_arg,
NULL,
},
.data = NULL, /* 2nd arg of func */
.help_str = help_track,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_track_arg0,
- (prog_void *)&cmd_track_arg1,
- (prog_void *)&cmd_track_val,
+ (prog_void *)&cmd_track_arg0,
+ (prog_void *)&cmd_track_arg1,
+ (prog_void *)&cmd_track_val,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_track_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_track_arg0,
+ (prog_void *)&cmd_track_arg0,
(prog_void *)&cmd_track_show_arg,
NULL,
},
};
+/**********************************************************/
+/* centrifugal configuration */
+
+/* this structure is filled when cmd_centrifugal is parsed successfully */
+struct cmd_centrifugal_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ float val;
+};
+
+/* function called when cmd_centrifugal is parsed successfully */
+static void cmd_centrifugal_parsed(void * parsed_result, void * data)
+{
+ struct cmd_centrifugal_result * res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("set"))) {
+ position_set_centrifugal_coef(&mainboard.pos, res->val);
+ }
+ printf_P(PSTR("centrifugal set %f\r\n"), mainboard.pos.centrifugal_coef);
+}
+
+prog_char str_centrifugal_arg0[] = "centrifugal";
+parse_pgm_token_string_t cmd_centrifugal_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg0, str_centrifugal_arg0);
+prog_char str_centrifugal_arg1[] = "set";
+parse_pgm_token_string_t cmd_centrifugal_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg1, str_centrifugal_arg1);
+parse_pgm_token_num_t cmd_centrifugal_val = TOKEN_NUM_INITIALIZER(struct cmd_centrifugal_result, val, FLOAT);
+
+prog_char help_centrifugal[] = "Set centrifugal coef";
+parse_pgm_inst_t cmd_centrifugal = {
+ .f = cmd_centrifugal_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_centrifugal,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_centrifugal_arg0,
+ (prog_void *)&cmd_centrifugal_arg1,
+ (prog_void *)&cmd_centrifugal_val,
+ NULL,
+ },
+};
+
+/* show */
+
+prog_char str_centrifugal_show_arg[] = "show";
+parse_pgm_token_string_t cmd_centrifugal_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg1, str_centrifugal_show_arg);
+
+prog_char help_centrifugal_show[] = "Show centrifugal";
+parse_pgm_inst_t cmd_centrifugal_show = {
+ .f = cmd_centrifugal_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_centrifugal_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_centrifugal_arg0,
+ (prog_void *)&cmd_centrifugal_show_arg,
+ NULL,
+ },
+};
+
/**********************************************************/
{
struct cmd_pt_list_result * res = parsed_result;
uint8_t i, why=0;
-
- if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
- printf_P(PSTR("not implemented\r\n"));
- return;
- }
if (!strcmp_P(res->arg1, PSTR("append"))) {
res->arg2 = pt_list_len;
}
+ if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
+ printf_P(PSTR("removed\r\n"));
+ return;
+ }
if (!strcmp_P(res->arg1, PSTR("insert")) ||
!strcmp_P(res->arg1, PSTR("append"))) {
printf_P(PSTR("List is too large\r\n"));
return;
}
- memmove(&pt_list[res->arg2+1], &pt_list[res->arg2],
+ memmove(&pt_list[res->arg2+1], &pt_list[res->arg2],
PT_LIST_SIZE-1-res->arg2);
pt_list[res->arg2].x = res->arg3;
pt_list[res->arg2].y = res->arg4;
printf_P(PSTR("Index too large\r\n"));
return;
}
- memmove(&pt_list[res->arg2], &pt_list[res->arg2+1],
+ memmove(&pt_list[res->arg2], &pt_list[res->arg2+1],
(PT_LIST_SIZE-1-res->arg2)*sizeof(struct xy_point));
pt_list_len--;
}
else if (!strcmp_P(res->arg1, PSTR("reset"))) {
pt_list_len = 0;
}
-
+
/* else it is a "show" or a "start" */
if (pt_list_len == 0) {
printf_P(PSTR("List empty\r\n"));
return;
}
+ restart:
for (i=0 ; i<pt_list_len ; i++) {
printf_P(PSTR("%d: x=%d y=%d\r\n"), i, pt_list[i].x, pt_list[i].y);
if (!strcmp_P(res->arg1, PSTR("start"))) {
trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
why = wait_traj_end(0xFF); /* all */
}
+ else if (!strcmp_P(res->arg1, PSTR("loop_start"))) {
+ trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
+ why = wait_traj_end(0xFF); /* all */
+ }
#if 0
else if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
while (1) {
#endif
if (why & (~(END_TRAJ | END_NEAR)))
trajectory_stop(&mainboard.traj);
+ if (why & END_INTR)
+ break;
}
+ if (why & END_INTR)
+ return;
+ if (!strcmp_P(res->arg1, PSTR("loop_start")))
+ goto restart;
}
prog_char str_pt_list_arg0[] = "pt_list";
.data = NULL, /* 2nd arg of func */
.help_str = help_pt_list,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_pt_list_arg0,
- (prog_void *)&cmd_pt_list_arg1,
- (prog_void *)&cmd_pt_list_arg2,
- (prog_void *)&cmd_pt_list_arg3,
- (prog_void *)&cmd_pt_list_arg4,
+ (prog_void *)&cmd_pt_list_arg0,
+ (prog_void *)&cmd_pt_list_arg1,
+ (prog_void *)&cmd_pt_list_arg2,
+ (prog_void *)&cmd_pt_list_arg3,
+ (prog_void *)&cmd_pt_list_arg4,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_pt_list_append,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_pt_list_arg0,
- (prog_void *)&cmd_pt_list_arg1_append,
- (prog_void *)&cmd_pt_list_arg3,
- (prog_void *)&cmd_pt_list_arg4,
+ (prog_void *)&cmd_pt_list_arg0,
+ (prog_void *)&cmd_pt_list_arg1_append,
+ (prog_void *)&cmd_pt_list_arg3,
+ (prog_void *)&cmd_pt_list_arg4,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_pt_list_del,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_pt_list_arg0,
- (prog_void *)&cmd_pt_list_del_arg,
+ (prog_void *)&cmd_pt_list_arg0,
+ (prog_void *)&cmd_pt_list_del_arg,
(prog_void *)&cmd_pt_list_arg2,
NULL,
},
};
/* show */
-prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_start";
+prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_start#loop_start";
parse_pgm_token_string_t cmd_pt_list_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_show_arg);
prog_char help_pt_list_show[] = "Show, start or reset pt_list";
.data = NULL, /* 2nd arg of func */
.help_str = help_pt_list_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_pt_list_arg0,
+ (prog_void *)&cmd_pt_list_arg0,
(prog_void *)&cmd_pt_list_show_arg,
NULL,
},
.data = NULL, /* 2nd arg of func */
.help_str = help_goto1,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_goto_arg0,
- (prog_void *)&cmd_goto_arg1_a,
- (prog_void *)&cmd_goto_arg2,
+ (prog_void *)&cmd_goto_arg0,
+ (prog_void *)&cmd_goto_arg1_a,
+ (prog_void *)&cmd_goto_arg2,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_goto2,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_goto_arg0,
- (prog_void *)&cmd_goto_arg1_b,
+ (prog_void *)&cmd_goto_arg0,
+ (prog_void *)&cmd_goto_arg1_b,
(prog_void *)&cmd_goto_arg2,
- (prog_void *)&cmd_goto_arg3,
+ (prog_void *)&cmd_goto_arg3,
NULL,
},
};
interrupt_traj_reset();
strat_get_speed(&old_spdd, &old_spda);
strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
+ strat_set_acc(3, 3);
- trajectory_d_rel(&mainboard.traj, -300);
- err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
+ err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
if (err == END_INTR)
goto intr;
- wait_ms(100);
- strat_reset_pos(ROBOT_LENGTH/2, 0, 0);
+ strat_reset_pos(ROBOT_WIDTH/2 + 100,
+ COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
+ COLOR_A(-90) + ROBOT_ANGLE_FRONT);
+ strat_hardstop();
- trajectory_d_rel(&mainboard.traj, 120);
+ trajectory_d_rel(&mainboard.traj, -180);
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
- trajectory_a_rel(&mainboard.traj, COLOR_A(90));
+ time_wait_ms(250);
+ trajectory_a_rel(&mainboard.traj, COLOR_A(-90));
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
- trajectory_d_rel(&mainboard.traj, -300);
- err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
+ time_wait_ms(250);
+ err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
if (err == END_INTR)
goto intr;
- wait_ms(100);
- strat_reset_pos(DO_NOT_SET_POS, COLOR_Y(ROBOT_LENGTH/2),
- COLOR_A(90));
+ strat_reset_pos(ROBOT_HALF_LENGTH_FRONT,
+ DO_NOT_SET_POS,
+ 180 + ROBOT_ANGLE_FRONT);
+ strat_hardstop();
- trajectory_d_rel(&mainboard.traj, 120);
+ trajectory_d_rel(&mainboard.traj, -170);
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
- wait_ms(100);
-
- trajectory_a_rel(&mainboard.traj, COLOR_A(-40));
+ time_wait_ms(250);
+
+ trajectory_a_rel(&mainboard.traj, COLOR_A(-110));
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
- wait_ms(100);
-
+ time_wait_ms(250);
+
strat_set_speed(old_spdd, old_spda);
return;
static void cmd_position_parsed(void * parsed_result, void * data)
{
struct cmd_position_result * res = parsed_result;
-
+
/* display raw position values */
if (!strcmp_P(res->arg1, PSTR("reset"))) {
position_set(&mainboard.pos, 0, 0, 0);
else if (!strcmp_P(res->arg1, PSTR("set"))) {
position_set(&mainboard.pos, res->arg2, res->arg3, res->arg4);
}
- else if (!strcmp_P(res->arg1, PSTR("autoset_green"))) {
- mainboard.our_color = I2C_COLOR_GREEN;
- i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_GREEN);
- i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_GREEN);
+ else if (!strcmp_P(res->arg1, PSTR("autoset_blue")) ||
+ !strcmp_P(res->arg1, PSTR("autoset_or_blue"))) {
+ mainboard.our_color = I2C_COLOR_BLUE;
+#ifndef HOST_VERSION
+ i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
+ i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
+#endif
auto_position();
}
- else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
- mainboard.our_color = I2C_COLOR_RED;
- i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_RED);
- i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_RED);
+ else if (!strcmp_P(res->arg1, PSTR("autoset_yellow")) ||
+ !strcmp_P(res->arg1, PSTR("autoset_or_yellow"))) {
+ mainboard.our_color = I2C_COLOR_YELLOW;
+#ifndef HOST_VERSION
+ i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
+ i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
+#endif
auto_position();
}
+ if (!strcmp_P(res->arg1, PSTR("autoset_or_blue"))) {
+ strat_conf.flags |= STRAT_CONF_OUR_ORANGE;
+ prepare_hill(I2C_COLOR_BLUE, 340);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("autoset_or_yellow"))) {
+ strat_conf.flags |= STRAT_CONF_OUR_ORANGE;
+ prepare_hill(I2C_COLOR_YELLOW, 340);
+ }
+
/* else it's just a "show" */
- printf_P(PSTR("x=%.2f y=%.2f a=%.2f\r\n"),
+ printf_P(PSTR("x=%.2f y=%.2f a=%.2f\r\n"),
position_get_x_double(&mainboard.pos),
position_get_y_double(&mainboard.pos),
DEG(position_get_a_rad_double(&mainboard.pos)));
prog_char str_position_arg0[] = "position";
parse_pgm_token_string_t cmd_position_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg0, str_position_arg0);
-prog_char str_position_arg1[] = "show#reset#autoset_green#autoset_red";
+prog_char str_position_arg1[] = "show#reset#autoset_blue#autoset_yellow#autoset_or_blue#autoset_or_yellow";
parse_pgm_token_string_t cmd_position_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1);
prog_char help_position[] = "Show/reset (x,y,a) position";
.data = NULL, /* 2nd arg of func */
.help_str = help_position,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_position_arg0,
- (prog_void *)&cmd_position_arg1,
+ (prog_void *)&cmd_position_arg0,
+ (prog_void *)&cmd_position_arg1,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_position_set,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_position_arg0,
- (prog_void *)&cmd_position_arg1_set,
- (prog_void *)&cmd_position_arg2,
- (prog_void *)&cmd_position_arg3,
- (prog_void *)&cmd_position_arg4,
+ (prog_void *)&cmd_position_arg0,
+ (prog_void *)&cmd_position_arg1_set,
+ (prog_void *)&cmd_position_arg2,
+ (prog_void *)&cmd_position_arg3,
+ (prog_void *)&cmd_position_arg4,
NULL,
},
};
/**********************************************************/
/* strat configuration */
-/* this structure is filled when cmd_strat_infos is parsed successfully */
-struct cmd_strat_infos_result {
+/* this structure is filled when cmd_strat_db is parsed successfully */
+struct cmd_strat_db_result {
fixed_string_t arg0;
fixed_string_t arg1;
};
-/* function called when cmd_strat_infos is parsed successfully */
-static void cmd_strat_infos_parsed(void *parsed_result, void *data)
+/* function called when cmd_strat_db is parsed successfully */
+static void cmd_strat_db_parsed(void *parsed_result, void *data)
{
- struct cmd_strat_infos_result *res = parsed_result;
+ struct cmd_strat_db_result *res = parsed_result;
if (!strcmp_P(res->arg1, PSTR("reset"))) {
- strat_reset_infos();
+ strat_db_init();
}
- strat_infos.dump_enabled = 1;
- strat_dump_infos(__FUNCTION__);
+ strat_db.dump_enabled = 1;
+ strat_db_dump(__FUNCTION__);
}
-prog_char str_strat_infos_arg0[] = "strat_infos";
-parse_pgm_token_string_t cmd_strat_infos_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg0, str_strat_infos_arg0);
-prog_char str_strat_infos_arg1[] = "show#reset";
-parse_pgm_token_string_t cmd_strat_infos_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg1, str_strat_infos_arg1);
+prog_char str_strat_db_arg0[] = "strat_db";
+parse_pgm_token_string_t cmd_strat_db_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_db_result, arg0, str_strat_db_arg0);
+prog_char str_strat_db_arg1[] = "show#reset";
+parse_pgm_token_string_t cmd_strat_db_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_db_result, arg1, str_strat_db_arg1);
-prog_char help_strat_infos[] = "reset/show strat_infos";
-parse_pgm_inst_t cmd_strat_infos = {
- .f = cmd_strat_infos_parsed, /* function to call */
+prog_char help_strat_db[] = "reset/show strat_db";
+parse_pgm_inst_t cmd_strat_db = {
+ .f = cmd_strat_db_parsed, /* function to call */
.data = NULL, /* 2nd arg of func */
- .help_str = help_strat_infos,
+ .help_str = help_strat_db,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_strat_infos_arg0,
- (prog_void *)&cmd_strat_infos_arg1,
+ (prog_void *)&cmd_strat_db_arg0,
+ (prog_void *)&cmd_strat_db_arg1,
NULL,
},
};
static void cmd_strat_conf_parsed(void *parsed_result, void *data)
{
// struct cmd_strat_conf_result *res = parsed_result;
-
- strat_infos.dump_enabled = 1;
- strat_dump_conf();
+ strat_conf.dump_enabled = 1;
+ strat_conf_dump(__FUNCTION__);
}
prog_char str_strat_conf_arg0[] = "strat_conf";
.data = NULL, /* 2nd arg of func */
.help_str = help_strat_conf,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_strat_conf_arg0,
- (prog_void *)&cmd_strat_conf_arg1,
+ (prog_void *)&cmd_strat_conf_arg0,
+ (prog_void *)&cmd_strat_conf_arg1,
NULL,
},
};
on = 1;
else
on = 0;
-
-#if 0
- if (!strcmp_P(res->arg1, PSTR("one_temple_on_disc")))
- bit = STRAT_CONF_ONLY_ONE_ON_DISC;
- else if (!strcmp_P(res->arg1, PSTR("bypass_static2")))
- bit = STRAT_CONF_BYPASS_STATIC2;
- else if (!strcmp_P(res->arg1, PSTR("take_one_lintel")))
- bit = STRAT_CONF_TAKE_ONE_LINTEL;
- else if (!strcmp_P(res->arg1, PSTR("skip_when_check_fail")))
- bit = STRAT_CONF_TAKE_ONE_LINTEL;
- else if (!strcmp_P(res->arg1, PSTR("store_static2")))
- bit = STRAT_CONF_STORE_STATIC2;
- else if (!strcmp_P(res->arg1, PSTR("big3_temple")))
- bit = STRAT_CONF_BIG_3_TEMPLE;
- else if (!strcmp_P(res->arg1, PSTR("early_opp_scan")))
- bit = STRAT_CONF_EARLY_SCAN;
- else if (!strcmp_P(res->arg1, PSTR("push_opp_cols")))
- bit = STRAT_CONF_PUSH_OPP_COLS;
-#endif
+
+ if (!strcmp_P(res->arg1, PSTR("our_orange")))
+ bit = STRAT_CONF_OUR_ORANGE;
+ else if (!strcmp_P(res->arg1, PSTR("wait_obstacle")))
+ bit = STRAT_CONF_WAIT_OBSTACLE;
+ else if (!strcmp_P(res->arg1, PSTR("straight_begin")))
+ bit = STRAT_CONF_STRAIGHT_BEGIN;
if (on)
- strat_infos.conf.flags |= bit;
+ strat_conf.flags |= bit;
else
- strat_infos.conf.flags &= (~bit);
+ strat_conf.flags &= (~bit);
- strat_infos.dump_enabled = 1;
- strat_dump_conf();
+ strat_conf.dump_enabled = 1;
+ strat_conf_dump(__FUNCTION__);
}
prog_char str_strat_conf2_arg0[] = "strat_conf";
parse_pgm_token_string_t cmd_strat_conf2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg0, str_strat_conf2_arg0);
-prog_char str_strat_conf2_arg1[] = "faux";
+prog_char str_strat_conf2_arg1[] = "our_orange#wait_obstacle#straight_begin";
parse_pgm_token_string_t cmd_strat_conf2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg1, str_strat_conf2_arg1);
prog_char str_strat_conf2_arg2[] = "on#off";
parse_pgm_token_string_t cmd_strat_conf2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg2, str_strat_conf2_arg2);
.data = NULL, /* 2nd arg of func */
.help_str = help_strat_conf2,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_strat_conf2_arg0,
- (prog_void *)&cmd_strat_conf2_arg1,
- (prog_void *)&cmd_strat_conf2_arg2,
+ (prog_void *)&cmd_strat_conf2_arg0,
+ (prog_void *)&cmd_strat_conf2_arg1,
+ (prog_void *)&cmd_strat_conf2_arg2,
NULL,
},
};
/* function called when cmd_strat_conf3 is parsed successfully */
static void cmd_strat_conf3_parsed(void *parsed_result, void *data)
{
-#if 0
struct cmd_strat_conf3_result *res = parsed_result;
- if (!strcmp_P(res->arg1, PSTR("scan_opponent_min_time"))) {
- if (res->arg2 > 90)
- res->arg2 = 90;
- strat_infos.conf.scan_opp_min_time = res->arg2;
- }
- else if (!strcmp_P(res->arg1, PSTR("delay_between_opponent_scan"))) {
- if (res->arg2 > 90)
- res->arg2 = 90;
- strat_infos.conf.delay_between_opp_scan = res->arg2;
- }
- else if (!strcmp_P(res->arg1, PSTR("scan_our_min_time"))) {
+ if (!strcmp_P(res->arg1, PSTR("orphan_tomato"))) {
if (res->arg2 > 90)
res->arg2 = 90;
- strat_infos.conf.scan_our_min_time = res->arg2;
+ strat_conf.orphan_tomato = res->arg2;
}
- else if (!strcmp_P(res->arg1, PSTR("delay_between_our_scan"))) {
+ else if (!strcmp_P(res->arg1, PSTR("opp_orange"))) {
if (res->arg2 > 90)
res->arg2 = 90;
- strat_infos.conf.delay_between_our_scan = res->arg2;
+ strat_conf.opp_orange = res->arg2;
}
- else if (!strcmp_P(res->arg1, PSTR("wait_opponent"))) {
- strat_infos.conf.wait_opponent = res->arg2;
- }
- else if (!strcmp_P(res->arg1, PSTR("lintel_min_time"))) {
- strat_infos.conf.lintel_min_time = res->arg2;
- }
-#endif
- strat_infos.dump_enabled = 1;
- strat_dump_conf();
+ strat_conf.dump_enabled = 1;
+ strat_conf_dump(__FUNCTION__);
}
prog_char str_strat_conf3_arg0[] = "strat_conf";
parse_pgm_token_string_t cmd_strat_conf3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg0, str_strat_conf3_arg0);
-prog_char str_strat_conf3_arg1[] = "faux2";
+prog_char str_strat_conf3_arg1[] = "orphan_tomato#opp_orange";
parse_pgm_token_string_t cmd_strat_conf3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg1, str_strat_conf3_arg1);
-parse_pgm_token_num_t cmd_strat_conf3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf3_result, arg2, UINT16);
+parse_pgm_token_num_t cmd_strat_conf3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf3_result, arg2, UINT8);
prog_char help_strat_conf3[] = "configure strat options";
parse_pgm_inst_t cmd_strat_conf3 = {
.data = NULL, /* 2nd arg of func */
.help_str = help_strat_conf3,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_strat_conf3_arg0,
- (prog_void *)&cmd_strat_conf3_arg1,
- (prog_void *)&cmd_strat_conf3_arg2,
+ (prog_void *)&cmd_strat_conf3_arg0,
+ (prog_void *)&cmd_strat_conf3_arg1,
+ (prog_void *)&cmd_strat_conf3_arg2,
NULL,
},
};
/**********************************************************/
/* Subtraj */
+
+/* function called when cmd_test is parsed successfully */
+static void subtraj_test(void)
+{
+}
+
+
/* this structure is filled when cmd_subtraj is parsed successfully */
struct cmd_subtraj_result {
fixed_string_t arg0;
/* function called when cmd_subtraj is parsed successfully */
static void cmd_subtraj_parsed(void *parsed_result, void *data)
{
-/* struct cmd_subtraj_result *res = parsed_result; */
+ struct cmd_subtraj_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("test")))
+ subtraj_test();
+ else if (!strcmp_P(res->arg1, PSTR("orange_yellow")))
+ run_to_the_hills(I2C_COLOR_YELLOW);
+ else if (!strcmp_P(res->arg1, PSTR("orange_blue")))
+ run_to_the_hills(I2C_COLOR_BLUE);
+ else if (!strcmp_P(res->arg1, PSTR("tomato"))) {
+ position_set(&mainboard.pos, 2625,
+ COLOR_Y(1847), COLOR_A(0.00));
+ get_orphan_tomatoes();
+ }
- printf_P(PSTR("TODO\r\n"));
trajectory_hardstop(&mainboard.traj);
}
prog_char str_subtraj_arg0[] = "subtraj";
parse_pgm_token_string_t cmd_subtraj_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg0, str_subtraj_arg0);
-prog_char str_subtraj_arg1[] = "faux";
+prog_char str_subtraj_arg1[] = "test#orange_yellow#orange_blue#tomato";
parse_pgm_token_string_t cmd_subtraj_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg1, str_subtraj_arg1);
parse_pgm_token_num_t cmd_subtraj_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg2, INT32);
parse_pgm_token_num_t cmd_subtraj_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg3, INT32);
.data = NULL, /* 2nd arg of func */
.help_str = help_subtraj,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_subtraj_arg0,
- (prog_void *)&cmd_subtraj_arg1,
- (prog_void *)&cmd_subtraj_arg2,
- (prog_void *)&cmd_subtraj_arg3,
- (prog_void *)&cmd_subtraj_arg4,
- (prog_void *)&cmd_subtraj_arg5,
+ (prog_void *)&cmd_subtraj_arg0,
+ (prog_void *)&cmd_subtraj_arg1,
+ (prog_void *)&cmd_subtraj_arg2,
+ (prog_void *)&cmd_subtraj_arg3,
+ (prog_void *)&cmd_subtraj_arg4,
+ (prog_void *)&cmd_subtraj_arg5,
NULL,
},
};
+