mark tomato as taken when we go on it

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 3ef6675f5837a3535a9e001a497fb5c28f55a77a..0405844d3117ee64ddfb26f848e4fd33e199f385 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -155,18 +155,33 @@ void strat_exit(void)
 #endif
 }
 
-/* called periodically (10ms) */
-void strat_event(void *dummy)
+/* mark tomato as not present */
+static void check_tomato(void)
+{
+       int16_t x, y;
+       uint8_t i, j;
+
+       x = position_get_x_s16(&mainboard.pos);
+       y = position_get_y_s16(&mainboard.pos);
+
+       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+               return;
+
+       if (strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
+               return;
+
+       strat_db.wp_table[i][j].present = 0;
+}
+
+/* mark corn as not present and give correct commands to the cobboard
+ * for spickles */
+static void check_corn(void)
 {
        uint8_t flags;
        int8_t lcob_near, rcob_near;
        uint8_t lcob, rcob;
        uint8_t lidx, ridx;
 
-       /* ignore when strat is not running */
-       if (strat_running == 0)
-               return;
-
        /* read sensors from ballboard */
        IRQ_LOCK(flags);
        lcob = ballboard.lcob;
@@ -255,9 +270,19 @@ void strat_event(void *dummy)
                else
                        i2c_cobboard_deploy(I2C_RIGHT_SIDE);
        }
+}
+
+/* called periodically (10ms) */
+void strat_event(void *dummy)
+{
+       /* ignore when strat is not running */
+       if (strat_running == 0)
+               return;
 
+       check_tomato();
+       check_corn();
        /* limit speed when opponent is near */
-       strat_limit_speed();
+       //strat_limit_speed();
 }
 
 

diff --git a/projects/microb2010/mainboard/strat_avoid.c b/projects/microb2010/mainboard/strat_avoid.c
index eb14b882fa8b07a7b5538a542fffa3dc87c32a2c..61151ff4fd1936bf9fdbe86af7e678ebe4e05dae 100644 (file)
--- a/projects/microb2010/mainboard/strat_avoid.c
+++ b/projects/microb2010/mainboard/strat_avoid.c
@@ -88,20 +88,20 @@ const struct wp_coord butterfly_tab[] = {
        { .i = 8, .j = 5, },
        { .i = 7, .j = 4, },
        { .i = 6, .j = 4, },
-       { .i = 5, .j = 4, },
-       { .i = 4, .j = 5, },
-       { .i = 3, .j = 5, },
-       { .i = 2, .j = 6, },
-       { .i = 1, .j = 6, },
-       { .i = 1, .j = 5, },
-       { .i = 1, .j = 4, },
-       { .i = 1, .j = 3, },
-       { .i = 1, .j = 2, },
-       { .i = 1, .j = 1, },
-       { .i = 2, .j = 2, },
-       { .i = 3, .j = 2, },
-       { .i = 4, .j = 3, },
        { .i = 5, .j = 3, },
+       { .i = 4, .j = 4, },
+       { .i = 3, .j = 2, },
+       { .i = 2, .j = 2, },
+       { .i = 1, .j = 1, },
+       { .i = 1, .j = 2, },
+       { .i = 1, .j = 3, },
+       { .i = 1, .j = 4, },
+       { .i = 1, .j = 5, },
+       { .i = 1, .j = 6, },
+       { .i = 2, .j = 6, },
+       { .i = 3, .j = 5, },
+       { .i = 4, .j = 5, },
+       { .i = 5, .j = 4, },
        { .i = 6, .j = 4, },
        { .i = 7, .j = 3, },
        { .i = 8, .j = 3, },
@@ -115,13 +115,13 @@ const struct wp_coord butterfly_tab[] = {
        { .i = 11, .j = 6, },
 };
 
-const struct circuit butterfly = {
+const struct circuit butterfly_circuit = {
        .name = "butterfly",
        .len = sizeof(butterfly_tab)/sizeof(struct wp_coord),
        .path = butterfly_tab,
 };
 
-const struct wp_coord small_tab[] = {
+const struct wp_coord losange_tab[] = {
        { .i = 11, .j = 6, },
        { .i = 10, .j = 6, },
        { .i = 9, .j = 5, },
@@ -133,16 +133,163 @@ const struct wp_coord small_tab[] = {
        { .i = 11, .j = 6, },
 };
 
-const struct circuit small = {
-       .name = "small",
-       .len = sizeof(small)/sizeof(struct wp_coord),
-       .path = small_tab,
+const struct circuit losange_circuit = {
+       .name = "losange",
+       .len = sizeof(losange_tab)/sizeof(struct wp_coord),
+       .path = losange_tab,
+};
+
+const struct wp_coord triangle_tab[] = {
+       { .i = 11, .j = 6, },
+       { .i = 10, .j = 6, },
+       { .i = 9, .j = 5, },
+       { .i = 8, .j = 5, },
+       { .i = 7, .j = 4, },
+       { .i = 6, .j = 4, },
+       { .i = 7, .j = 3, },
+       { .i = 8, .j = 3, },
+       { .i = 9, .j = 2, },
+       { .i = 10, .j = 2, },
+       { .i = 11, .j = 1, },
+       { .i = 11, .j = 2, },
+       { .i = 11, .j = 3, },
+       { .i = 11, .j = 4, },
+       { .i = 11, .j = 5, },
+       { .i = 11, .j = 6, },
+};
+
+const struct circuit triangle_circuit = {
+       .name = "triangle",
+       .len = sizeof(triangle_tab)/sizeof(struct wp_coord),
+       .path = triangle_tab,
+};
+
+const struct wp_coord answer_d_tab[] = {
+       { .i = 11, .j = 6, },
+       { .i = 11, .j = 5, },
+       { .i = 11, .j = 4, },
+       { .i = 11, .j = 3, },
+       { .i = 11, .j = 2, },
+       { .i = 11, .j = 1, },
+       { .i = 10, .j = 2, },
+       { .i = 9, .j = 2, },
+       { .i = 8, .j = 3, },
+       { .i = 9, .j = 3, },
+       { .i = 10, .j = 4, },
+       { .i = 11, .j = 4, },
+       { .i = 11, .j = 5, },
+       { .i = 11, .j = 6, },
+};
+
+const struct circuit answer_d_circuit = {
+       .name = "answer_d",
+       .len = sizeof(answer_d_tab)/sizeof(struct wp_coord),
+       .path = answer_d_tab,
+};
+
+const struct wp_coord h_lambda_tab[] = {
+       { .i = 11, .j = 6, },
+       { .i = 10, .j = 6, },
+       { .i = 9, .j = 5, },
+       { .i = 8, .j = 5, },
+       { .i = 7, .j = 4, },
+       { .i = 6, .j = 4, },
+       { .i = 5, .j = 3, },
+       { .i = 5, .j = 4, },
+       { .i = 5, .j = 5, },
+       { .i = 5, .j = 6, },
+       { .i = 6, .j = 6, },
+       { .i = 7, .j = 5, },
+       { .i = 8, .j = 5, },
+       { .i = 9, .j = 5, },
+       { .i = 10, .j = 6, },
+       { .i = 11, .j = 6, },
+};
+
+const struct circuit h_lambda_circuit = {
+       .name = "h_lambda",
+       .len = sizeof(h_lambda_tab)/sizeof(struct wp_coord),
+       .path = h_lambda_tab,
+};
+
+const struct wp_coord asym_butterfly_tab[] = {
+       { .i = 11, .j = 6, },
+       { .i = 10, .j = 6, },
+       { .i = 9, .j = 5, },
+       { .i = 8, .j = 5, },
+       { .i = 7, .j = 4, },
+       { .i = 6, .j = 4, },
+       { .i = 5, .j = 3, },
+       { .i = 4, .j = 3, },
+       { .i = 3, .j = 2, },
+       { .i = 3, .j = 3, },
+       { .i = 3, .j = 4, },
+       { .i = 3, .j = 5, },
+       { .i = 4, .j = 5, },
+       { .i = 5, .j = 4, },
+       { .i = 6, .j = 4, },
+       { .i = 7, .j = 3, },
+       { .i = 8, .j = 3, },
+       { .i = 9, .j = 2, },
+       { .i = 10, .j = 2, },
+       { .i = 11, .j = 1, },
+       { .i = 11, .j = 2, },
+       { .i = 11, .j = 3, },
+       { .i = 11, .j = 4, },
+       { .i = 11, .j = 5, },
+       { .i = 11, .j = 6, },
+};
+
+const struct circuit asym_butterfly_circuit = {
+       .name = "asym_butterfly",
+       .len = sizeof(asym_butterfly_tab)/sizeof(struct wp_coord),
+       .path = asym_butterfly_tab,
+};
+
+const struct wp_coord big_h_lambda_tab[] = {
+       { .i = 11, .j = 6, },
+       { .i = 10, .j = 6, },
+       { .i = 9, .j = 5, },
+       { .i = 8, .j = 5, },
+       { .i = 7, .j = 4, },
+       { .i = 6, .j = 4, },
+       { .i = 5, .j = 4, },
+       { .i = 4, .j = 5, },
+       { .i = 3, .j = 5, },
+       { .i = 2, .j = 6, },
+       { .i = 1, .j = 6, },
+       { .i = 1, .j = 5, },
+       { .i = 1, .j = 4, },
+       { .i = 1, .j = 3, },
+       { .i = 1, .j = 2, },
+       { .i = 1, .j = 1, },
+       { .i = 2, .j = 2, },
+       { .i = 3, .j = 2, },
+       { .i = 4, .j = 3, },
+       { .i = 5, .j = 3, },
+       { .i = 6, .j = 4, },
+       { .i = 7, .j = 4, },
+       { .i = 8, .j = 5, },
+       { .i = 9, .j = 5, },
+       { .i = 10, .j = 6, },
+       { .i = 11, .j = 6, },
+};
+
+const struct circuit big_h_lambda_circuit = {
+       .name = "big_h_lambda",
+       .len = sizeof(big_h_lambda_tab)/sizeof(struct wp_coord),
+       .path = big_h_lambda_tab,
 };
 
 /* list of all possible circuits */
 const struct circuit *circuits[] = {
-       &butterfly,
-       &small,
+       &butterfly_circuit,
+       &losange_circuit,
+       &triangle_circuit,
+       &answer_d_circuit,
+       &h_lambda_circuit,
+       &asym_butterfly_circuit,
+       &big_h_lambda_circuit,
        NULL,
 };