throttle speed before ejection

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index ccd1f0235962b7f15baee6124bb07c4479268277..9b581965d13ad0c78bc1b8ee5f65ceb29632e26b 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -281,7 +281,9 @@ void strat_event(void *dummy)
 
        check_tomato();
        check_corn();
+
        /* limit speed when opponent is near */
+       /* disabled for 2010, we are already slow :) */
        //strat_limit_speed();
 }
 
@@ -304,6 +306,43 @@ static uint8_t robot_is_on_eject_line(void)
        return 1;
 }
 
+/* 0 = fast, 1 = slow */
+static uint8_t eject_select_speed(void)
+{
+       int16_t x, y;
+       uint8_t i, j;
+
+       x = position_get_x_s16(&mainboard.pos);
+       y = position_get_y_s16(&mainboard.pos);
+
+       if (get_cob_count() >= 5) {
+               strat_want_pack = 1;
+               return 0; /* fast */
+       }
+
+       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+               DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
+                     __FUNCTION__, x, y);
+               return 1; /* slow */
+       }
+
+       if (corn_count_neigh(i, j) == 2)
+               return 1; /* slow */
+
+       return 0; /* fast */
+}
+
+/* called multiple times while we are waiting to reach the ejection
+ * point */
+static uint8_t speedify_eject(void)
+{
+       if (eject_select_speed())
+               strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+       else
+               strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
+       return 0;
+}
+
 /* must be called from a terminal line */
 static uint8_t strat_eject(void)
 {
@@ -311,6 +350,7 @@ static uint8_t strat_eject(void)
 
        DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
 
+       /* check that we are called from an eject line */
        if (!robot_is_on_eject_line()) {
                DEBUG(E_USER_STRAT, "%s() not on eject line", __FUNCTION__);
                return END_ERROR;
@@ -318,18 +358,13 @@ static uint8_t strat_eject(void)
 
        /* go to eject point */
        trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
-       err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5,
+       err = WAIT_COND_OR_TRAJ_END(speedify_eject(),
                                    TRAJ_FLAGS_NO_NEAR);
-       if (err != 0 && !TRAJ_SUCCESS(err))
+       /* err is never == 0 because speedify_eject() always return 0 */
+       if (!TRAJ_SUCCESS(err))
                return err;
 
-       strat_want_pack = 1;
-       if (err == 0) {
-               strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
-               err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
-       }
-
-       /* pack arms */
+       /* pack arms (force), and disable strat_event */
        strat_event_disable();
        i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
        i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);

diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index c5f05236079d611cd46f003d5fe514d476258840..77c9a51904e002ed48d23d9a21b76958ec02e09d 100644 (file)
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -168,10 +168,6 @@ static uint8_t clitoid_select_speed(uint8_t num1, uint8_t dir1,
                return 1;
        }
 
-/*     if (time_get_s() > 32) */
-/*             DEBUG(E_USER_STRAT, "i,j = (%d %d), count=%d", i, j, */
-/*                   corn_count_neigh(i, j)); */
-
        if (corn_count_neigh(i, j) == 2)
                return 1;