#include "strat_utils.h"
#include "main.h"
+uint8_t robotsim_blocking = 0;
+
static int32_t l_pwm, r_pwm;
static int32_t l_enc, r_enc;
return 0;
}
+static void beacon_update(void)
+{
+ uint8_t flags;
+ int16_t oppx, oppy;
+ double oppa, oppd;
+
+ IRQ_LOCK(flags);
+ if (ballboard.opponent_x == I2C_OPPONENT_NOT_THERE) {
+ IRQ_UNLOCK(flags);
+ return;
+ }
+ oppx = ballboard.opponent_x;
+ oppy = ballboard.opponent_y;
+ abs_xy_to_rel_da(oppx, oppy, &oppd, &oppa);
+ ballboard.opponent_a = DEG(oppa);
+ if (ballboard.opponent_a < 0)
+ ballboard.opponent_a += 360;
+ ballboard.opponent_d = oppd;
+ IRQ_UNLOCK(flags);
+}
+
/* must be called periodically */
void robotsim_update(void)
{
int oppx, oppy;
double oppa, oppd;
+ beacon_update();
+
/* time shift the command */
l_pwm_shift[i] = l_pwm;
r_pwm_shift[i] = r_pwm;
pertl = 1;
else if (cmd[0] == 'r')
pertr = 1;
+ else if (cmd[0] == 'b')
+ robotsim_blocking = 1;
if (cmd[0] == 'o') {
if (sscanf(cmd, "opp %d %d", &oppx, &oppy) == 2) {
abs_xy_to_rel_da(oppx, oppy, &oppd, &oppa);
IRQ_LOCK(flags);
- beaconboard.oppx = oppx;
- beaconboard.oppy = oppy;
- beaconboard.oppa = DEG(oppa);
- if (beaconboard.oppa < 0)
- beaconboard.oppa += 360;
- beaconboard.oppd = oppd;
+ ballboard.opponent_x = oppx;
+ ballboard.opponent_y = oppy;
+ ballboard.opponent_a = DEG(oppa);
+ if (ballboard.opponent_a < 0)
+ ballboard.opponent_a += 360;
+ ballboard.opponent_d = oppd;
IRQ_UNLOCK(flags);
}
}