high level strat

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index df80b793ff7e4c3936593f1225641ae818f92229..e08c4af38c9bea93bc8c3e8d6002e86edb756756 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -224,12 +224,67 @@ static uint8_t strat_beginning(void)
        } while (0)
 
 
+/* return true if we need to grab some more elements */
+static uint8_t need_more_elements(void)
+{
+       if (time_get_s() <= 75) {
+               /* we have enough time left */
+               if (get_ball_count() >= 4)
+                       return 0;
+               if (get_cob_count() >= 4)
+                       return 0;
+               if ((get_ball_count() >= 2) &&
+                   (get_cob_count() >= 2))
+                       return 0;
+               return 1;
+       }
+       else {
+               /* not much time remaining */
+               if ((get_ball_count() >= 1) &&
+                   (get_cob_count() >= 1))
+                       return 0;
+               return 1;
+       }
+}
+
+static uint8_t strat_harvest(void)
+{
+       return 0;
+}
+
+static uint8_t strat_eject(void)
+{
+       return 0;
+}
+
 uint8_t strat_main(void)
 {
        uint8_t err;
 
-       /* */
+       /* harvest the first cobs + balls */
        err = strat_beginning();
 
+       while (1) {
+               /* end of time exit ! */
+               if (err == END_TIMER) {
+                       DEBUG(E_USER_STRAT, "End of time");
+                       strat_exit();
+                       break;
+               }
+
+               if (need_more_elements() == 0) {
+                       /* we have enough elements, go to eject */
+                       err = strat_eject();
+                       if (!TRAJ_SUCCESS(err))
+                               continue;
+               }
+               else {
+                       /* harvest */
+                       err = strat_harvest();
+                       if (!TRAJ_SUCCESS(err))
+                               continue;
+               }
+       }
+
        return err;
 }

diff --git a/projects/microb2010/mainboard/strat_utils.c b/projects/microb2010/mainboard/strat_utils.c
index 708f08a27310fd9c18ff01b4436fdd8e0110417a..41def2cead75f9bd303a71fb68ec87cad5b6e0d3 100644 (file)
--- a/projects/microb2010/mainboard/strat_utils.c
+++ b/projects/microb2010/mainboard/strat_utils.c
@@ -1,6 +1,6 @@
-/*  
+/*
  *  Copyright Droids Corporation, Microb Technology (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
@@ -75,7 +75,7 @@ int16_t distance_from_robot(int16_t x, int16_t y)
                                position_get_y_s16(&mainboard.pos), x, y);
 }
 
-/** do a modulo 360 -> [-180,+180], knowing that 'a' is in [-3*180,+3*180] */  
+/** do a modulo 360 -> [-180,+180], knowing that 'a' is in [-3*180,+3*180] */
 int16_t simple_modulo_360(int16_t a)
 {
        if (a < -180) {
@@ -93,10 +93,10 @@ int16_t angle_abs_to_rel(int16_t a_abs)
        return simple_modulo_360(a_abs - position_get_a_deg_s16(&mainboard.pos));
 }
 
-void rel_da_to_abs_xy(double d_rel, double a_rel_rad, 
+void rel_da_to_abs_xy(double d_rel, double a_rel_rad,
                      double *x_abs, double *y_abs)
 {
-       double x = position_get_x_double(&mainboard.pos); 
+       double x = position_get_x_double(&mainboard.pos);
        double y = position_get_y_double(&mainboard.pos);
        double a = position_get_a_rad_double(&mainboard.pos);
 
@@ -109,7 +109,7 @@ double norm(double x, double y)
        return sqrt(x*x + y*y);
 }
 
-void rel_xy_to_abs_xy(double x_rel, double y_rel, 
+void rel_xy_to_abs_xy(double x_rel, double y_rel,
                      double *x_abs, double *y_abs)
 {
        double d_rel, a_rel;
@@ -119,13 +119,13 @@ void rel_xy_to_abs_xy(double x_rel, double y_rel,
 }
 
 /* return an angle between -pi and pi */
-void abs_xy_to_rel_da(double x_abs, double y_abs, 
+void abs_xy_to_rel_da(double x_abs, double y_abs,
                      double *d_rel, double *a_rel_rad)
 {
-       double x = position_get_x_double(&mainboard.pos); 
+       double x = position_get_x_double(&mainboard.pos);
        double y = position_get_y_double(&mainboard.pos);
        double a = position_get_a_rad_double(&mainboard.pos);
-       
+
        *a_rel_rad = atan2(y_abs - y, x_abs - x) - a;
        if (*a_rel_rad < -M_PI) {
                *a_rel_rad += M_2PI;
@@ -139,7 +139,7 @@ void abs_xy_to_rel_da(double x_abs, double y_abs,
 void rotate(double *x, double *y, double rot)
 {
        double l, a;
-       
+
        l = norm(*x, *y);
        a = atan2(*y, *x);
 
@@ -176,7 +176,7 @@ uint8_t robot_is_in_area(int16_t margin)
 uint8_t y_is_more_than(int16_t y)
 {
        int16_t posy;
-       
+
        posy = position_get_y_s16(&mainboard.pos);
        if (mainboard.our_color == I2C_COLOR_YELLOW) {
                if (posy > y)
@@ -197,7 +197,7 @@ uint8_t y_is_more_than(int16_t y)
 uint8_t x_is_more_than(int16_t x)
 {
        int16_t posx;
-       
+
        posx = position_get_x_s16(&mainboard.pos);
        if (posx > x)
                return 1;
@@ -228,15 +228,15 @@ int16_t sin_table[] = {
 int16_t fast_sin(int16_t deg)
 {
        deg %= 360;
-       
+
        if (deg < 0)
                deg += 360;
 
-       if (deg < 90) 
+       if (deg < 90)
                return sin_table[(deg*16)/90];
-       else if (deg < 180) 
+       else if (deg < 180)
                return sin_table[((180-deg)*16)/90];
-       else if (deg < 270) 
+       else if (deg < 270)
                return -sin_table[((deg-180)*16)/90];
        else
                return -sin_table[((360-deg)*16)/90];
@@ -318,3 +318,13 @@ uint8_t opponent_is_behind(void)
 /*             return 1; */
        return 0;
 }
+
+uint8_t get_ball_count(void)
+{
+       return ballboard.ball_count;
+}
+
+uint8_t get_cob_count(void)
+{
+       return cobboard.cob_count;
+}

diff --git a/projects/microb2010/mainboard/strat_utils.h b/projects/microb2010/mainboard/strat_utils.h
index 7502a4355e8d70fbba17668cbe52e114ca3b697f..d6bea8f5ba1f35e7dc4065d38a1b6233667f63a8 100644 (file)
--- a/projects/microb2010/mainboard/strat_utils.h
+++ b/projects/microb2010/mainboard/strat_utils.h
@@ -58,3 +58,6 @@ int8_t get_opponent_xy(int16_t *x, int16_t *y);
 int8_t get_opponent_da(int16_t *d, int16_t *a);
 int8_t get_opponent_xyda(int16_t *x, int16_t *y, int16_t *d, int16_t *a);
 uint8_t opponent_is_behind(void);
+
+uint8_t get_ball_count(void);
+uint8_t get_cob_count(void);