better cobboard commands in strat_event

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index 90e9ff1e6e7782bda0e41cee99c91f8d4a40149a..b6a12c80920e22a73487a125fef9000b07c3eb43 100755 (executable)
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -300,7 +300,7 @@ int main(void)
 
        /* strat-related event */
        scheduler_add_periodical_event_priority(strat_event, NULL,
-                                               10000L / SCHEDULER_UNIT,
+                                               25000L / SCHEDULER_UNIT,
                                                STRAT_PRIO);
 
 #ifndef HOST_VERSION

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 94b9b6f7c0416890e1ef18150379ef2d87c5f415..5ae37974ec5538cb789f58a284e81d312997c5e4 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -68,6 +68,7 @@
 #define COL_SCAN_PRE_MARGIN 250
 
 static volatile uint8_t strat_running = 0;
+static volatile uint8_t want_pack = 0;
 struct strat_conf strat_conf;
 
 /*************************************************************/
@@ -156,6 +157,7 @@ void strat_exit(void)
 void strat_event(void *dummy)
 {
        uint8_t flags;
+       int8_t lcob_near, rcob_near;
        uint8_t lcob, rcob;
        uint8_t lidx, ridx;
 
@@ -182,35 +184,54 @@ void strat_event(void *dummy)
 #endif
 
        /* detect cob on left side */
-       if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
-               if (lcob != I2C_COB_NONE)
-                       corn_set_color(strat_db.corn_table[lidx], lcob);
+       lcob_near = corn_is_near(&lidx, I2C_LEFT_SIDE);
+       if (lcob_near && lcob != I2C_COB_NONE) {
+               if (strat_db.corn_table[lidx]->corn.color == I2C_COB_UNKNOWN)
+                       DEBUG(E_USER_STRAT, "lcob %s %d",
+                             lcob == I2C_COB_WHITE ? "white" : "black", lidx);
+               corn_set_color(strat_db.corn_table[lidx], lcob);
+       }
+
+       /* detect cob on right side */
+       rcob_near = corn_is_near(&ridx, I2C_RIGHT_SIDE);
+       if (rcob_near && rcob != I2C_COB_NONE) {
+               if (strat_db.corn_table[ridx]->corn.color == I2C_COB_UNKNOWN)
+                       DEBUG(E_USER_STRAT, "rcob %s %d",
+                             rcob == I2C_COB_WHITE ? "white" : "black", ridx);
+               corn_set_color(strat_db.corn_table[ridx], rcob);
+       }
 
+       /* control the cobboard mode for left spickle */
+       if (get_cob_count() >= 5 || want_pack) {
+               if (strat_db.corn_table[lidx]->corn.color != I2C_COB_WHITE &&
+                   strat_db.corn_table[lidx]->corn.color != I2C_COB_BLACK)
+                       i2c_cobboard_pack(I2C_LEFT_SIDE);
+       }
+       else {
                if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
                        i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
+               else if (strat_db.corn_table[lidx]->corn.color == I2C_COB_BLACK)
+                       i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
                else
                        i2c_cobboard_deploy(I2C_LEFT_SIDE);
        }
-       else {
-               i2c_cobboard_deploy(I2C_LEFT_SIDE);
-       }
 
-       /* detect cob on right side */
-       if (corn_is_near(&ridx, I2C_RIGHT_SIDE)) {
-               if (rcob != I2C_COB_NONE)
-                       corn_set_color(strat_db.corn_table[ridx], rcob);
-
-               if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
+       /* control the cobboard mode for right spickle */
+       if (get_cob_count() >= 5 || want_pack) {
+               if (strat_db.corn_table[lidx]->corn.color != I2C_COB_WHITE &&
+                   strat_db.corn_table[lidx]->corn.color != I2C_COB_BLACK)
+                       i2c_cobboard_pack(I2C_RIGHT_SIDE);
+       }
+       else {
+               if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
                        i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
+               else if (strat_db.corn_table[lidx]->corn.color == I2C_COB_BLACK)
+                       i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
                else
                        i2c_cobboard_deploy(I2C_RIGHT_SIDE);
        }
-       else {
-               i2c_cobboard_deploy(I2C_RIGHT_SIDE);
-       }
-
 
-       /* limit speed when opponent is close */
+       /* limit speed when opponent is near */
        strat_limit_speed();
 }
 
@@ -249,6 +270,7 @@ static uint8_t strat_eject(void)
        /* cob ejection */
        trajectory_d_rel(&mainboard.traj, -100);
        err = wait_traj_end(END_INTR|END_TRAJ);
+       strat_running = ;
        i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
        time_wait_ms(2000);
 

diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index 8d3f839cd5e9bb93220485eb4c42e1d419bcca68..f8cafbca8329c7864c93add50b416ad5f567e0ea 100644 (file)
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -69,6 +69,7 @@
 /* return 1 if there is a corn near, and fill the index ptr */
 int8_t corn_is_near(uint8_t *corn_idx, uint8_t side)
 {
+       /* XXX to be checked */
 #define SENSOR_CORN_DIST  225
 #define SENSOR_CORN_ANGLE 90
        double x = position_get_x_double(&mainboard.pos);