cup1

diff --git a/projects/microb2010/ballboard/actuator.c b/projects/microb2010/ballboard/actuator.c
index 0dc89ff45ac86de25c6573a8fce417b5fa17f19c..c635fe92f3ea6f3eac2a797dad22aa20b097e6c7 100644 (file)
--- a/projects/microb2010/ballboard/actuator.c
+++ b/projects/microb2010/ballboard/actuator.c
@@ -49,7 +49,7 @@
 
 #define FORKROT_DEPLOYED -55000
 #define FORKROT_MID -33000
-#define FORKROT_PACKED   0
+#define FORKROT_PACKED   -4000
 
 void roller_on(void)
 {

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index 6bfd518a778c90009b2496795ac8e5f8eeef94f4..262f73cc6a96d0623f36e4e5934021e260e3e10e 100644 (file)
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -140,7 +140,7 @@ void microb_cs_init(void)
        bd_init(&ballboard.roller.bd);
 #define ROLLER_SPEED_THRES (ROLLER_SPEED * 0.75)
        bd_set_speed_threshold(&ballboard.roller.bd, ROLLER_SPEED_THRES);
-       bd_set_current_thresholds(&ballboard.roller.bd, 500, 1500, 1000000, 20);
+       bd_set_current_thresholds(&ballboard.roller.bd, 500, 1500, 1200000, 70);
 
        /* ---- CS forktrans */
        /* PID */

diff --git a/projects/microb2010/ballboard/state.c b/projects/microb2010/ballboard/state.c
index e777e499b57940359b91c57896e4b4732aa1bb70..6c229a40b9607a51d2413b3c6f80c7884631efad 100644 (file)
--- a/projects/microb2010/ballboard/state.c
+++ b/projects/microb2010/ballboard/state.c
@@ -174,7 +174,7 @@ static void state_do_eject(void)
                        }
 
                        /* timeout */
-                       if ((time_get_us2() - us) > 1000UL * 1000UL) {
+                       if ((time_get_us2() - us) > 2000UL * 1000UL) {
                                STMCH_DEBUG("%s(): eject timeout", __FUNCTION__);
                                blocked = 1;
                                break;

diff --git a/projects/microb2010/cobboard/spickle.c b/projects/microb2010/cobboard/spickle.c
index 058a7b71ce74fe125e8202f656f6005dac84c352..e04e18f8266162d4ec0d69e5572524dd31d6c432 100644 (file)
--- a/projects/microb2010/cobboard/spickle.c
+++ b/projects/microb2010/cobboard/spickle.c
@@ -72,8 +72,8 @@ static struct spickle_params spickle = {
                &cobboard.right_spickle,
        },
        .pos_deployed = {
-               500,// 7000, // 200, /* left */
-               500,// 7000, // 200, /* right */
+               7000, // 200, /* left */
+               7000, // 200, /* right */
        },
        .pos_mid = {
                25000, /* left */

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 2d652082bf9e427de6b7810abff647064315f456..535829f1324376aa2a7067df282113d8adbde713 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -294,6 +294,9 @@ static void state_do_harvest(uint8_t side)
                shovel_down();
                time_wait_ms(250);
                shovel_up();
+               /* if eject command is received, force exit */
+               if (EJECT(state_mode))
+                       return;
        }
 
        state_debug_wait_key_pressed();

diff --git a/projects/microb2010/mainboard/beacon.c b/projects/microb2010/mainboard/beacon.c
index 13cd4cd5537293d2fce2e5827458e6b7629e4129..cc78ca7f7d849519e9962075f575fbdac7a3dc2d 100644 (file)
--- a/projects/microb2010/mainboard/beacon.c
+++ b/projects/microb2010/mainboard/beacon.c
@@ -55,7 +55,7 @@
 #include "main.h"
 #include "strat_utils.h"
 
-#define BEACON_UART_NUM 0
+#define BEACON_UART_NUM 2
 
 #define INIT 0
 #define OPP0 1
@@ -69,6 +69,8 @@
 #define STA4 9
 #define STA5 10
 
+#define BEACON_ANGLE_OFFSET 449
+
 static volatile uint8_t opp_age = 0;
 static volatile int16_t opp_a = I2C_OPPONENT_NOT_THERE;
 static volatile int16_t opp_d = I2C_OPPONENT_NOT_THERE;
@@ -78,7 +80,7 @@ static volatile int16_t pos_x = I2C_BEACON_NOT_FOUND;
 static volatile int16_t pos_y = I2C_BEACON_NOT_FOUND;
 static volatile int16_t pos_a = I2C_BEACON_NOT_FOUND;
 
-#define BEACON_OFFSET (-50.)
+#define BEACON_POS_OFFSET (-50.)
 int8_t beacon_get_pos_double(double *x, double *y, double *a_rad)
 {
        uint8_t flags;
@@ -98,8 +100,8 @@ int8_t beacon_get_pos_double(double *x, double *y, double *a_rad)
        dtmpy = tmpy;
        dtmpa = RAD((double)tmpa / 10.);
 
-       dtmpx += cos(dtmpa) * BEACON_OFFSET;
-       dtmpx += sin(dtmpa) * BEACON_OFFSET;
+       dtmpx += cos(dtmpa) * BEACON_POS_OFFSET;
+       dtmpx += sin(dtmpa) * BEACON_POS_OFFSET;
 
        *x = dtmpx;
        *y = dtmpy;
@@ -215,7 +217,7 @@ static void beacon_opponent_event(void)
 
        /* if beacon is too old, remove it */
        IRQ_LOCK(flags);
-       if (opp_age < 3)
+       if (opp_age < 50)
                opp_age ++;
        else {
                beaconboard.oppx = I2C_OPPONENT_NOT_THERE;
@@ -227,6 +229,9 @@ static void beacon_opponent_event(void)
        id = opp_d;
        IRQ_UNLOCK(flags);
 
+       ia = (ia + BEACON_ANGLE_OFFSET);
+       if (ia > 3600)
+               ia -= 3600;
        fa = ia;
        fa = RAD(fa);
        fd = id;
@@ -238,7 +243,7 @@ static void beacon_opponent_event(void)
        IRQ_LOCK(flags);
        beaconboard.oppx = ix;
        beaconboard.oppy = iy;
-       beaconboard.oppa = ia;
+       beaconboard.oppa = ia / 10;
        beaconboard.oppd = id;
        IRQ_UNLOCK(flags);
 #endif

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 03bc688a35f41acf5076bfe43d64165ea3c245b0..f98bd9954ac7fc5a4ee94cd239b2ba628670f312 100755 (executable)
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -93,7 +93,7 @@
  * and diameter: 55mm -> perimeter 134mm
  * dist_imp_mm = 4096/134 x 10 -> 304 */
 /* increase it to go further */
-#define IMP_ENCODERS 1024
+#define IMP_ENCODERS 1000
 #define WHEEL_DIAMETER_MM 42.9
 #define WHEEL_PERIM_MM (WHEEL_DIAMETER_MM * M_PI)
 #define IMP_COEF 10.

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 64562f530c77ebc69a50f448ea6989ed486c1b56..7f7b9d908a3ee20261b1c510dd3970e0fa259f15 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -501,6 +501,7 @@ static uint8_t strat_eject(void)
        /* ball ejection */
        if (get_ball_count() > 0) {
                i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+               time_wait_ms(300);
                trajectory_a_abs(&mainboard.traj, COLOR_A(70));
                err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
                if (!TRAJ_SUCCESS(err))
@@ -517,6 +518,10 @@ static uint8_t strat_eject(void)
                                     2000);
 #endif
        }
+       else {
+               /* to pack spickles */
+               time_wait_ms(300);
+       }
 
        if (get_cob_count() > 0) {
                /* half turn */
@@ -904,7 +909,12 @@ uint8_t run_to_the_hills(uint8_t orange_color)
        strat_hardstop();
        i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
 
-       time_wait_ms(1800);
+       time_wait_ms(1100);
+
+       trajectory_d_rel(&mainboard.traj, 15);
+       time_wait_ms(400);
+       strat_hardstop();
+       time_wait_ms(200);
 
        /* reach top, go down */
        trajectory_d_rel(&mainboard.traj, -HILL_LEN);

diff --git a/projects/microb2010/mainboard/strat_base.c b/projects/microb2010/mainboard/strat_base.c
index d68f5a608c65a2979e2ea835d8fa34f7e05a6d78..023db360331a0ca02404d981d79deda7947e034f 100644 (file)
--- a/projects/microb2010/mainboard/strat_base.c
+++ b/projects/microb2010/mainboard/strat_base.c
@@ -414,11 +414,12 @@ uint8_t strat_obstacle(void)
        y_rel = sin(RAD(opp_a)) * (double)opp_d;
 
        /* opponent too far */
-       if (opp_d > 500)
+       if (opp_d > 650)
                return 0;
 
        /* opponent is in front of us */
-       if (mainboard.speed_d > 0 && (opp_a > 325 || opp_a < 35)) {
+       if ((mainboard.speed_d > 0 && opp_d < 500 && (opp_a > 325 || opp_a < 35)) &&
+           (mainboard.speed_d > 0 && opp_d < 650 && (opp_a > 340 || opp_a < 20))) {
                DEBUG(E_USER_STRAT, "opponent front d=%d, a=%d "
                      "xrel=%d yrel=%d (speed_d=%d)",
                      opp_d, opp_a, x_rel, y_rel, mainboard.speed_d);
@@ -426,7 +427,8 @@ uint8_t strat_obstacle(void)
                return 1;
        }
        /* opponent is behind us */
-       if (mainboard.speed_d < 0 && (opp_a < 215 && opp_a > 145)) {
+       if ((mainboard.speed_d < 0 && opp_d < 500 && (opp_a < 215 && opp_a > 145)) &&
+           (mainboard.speed_d < 0 && opp_d < 650 && (opp_a < 200 && opp_a > 160))) {
                DEBUG(E_USER_STRAT, "opponent behind d=%d, a=%d xrel=%d yrel=%d",
                      opp_d, opp_a, x_rel, y_rel);
                sensor_obstacle_disable();

diff --git a/projects/microb2010/mainboard/uart_config.h b/projects/microb2010/mainboard/uart_config.h
index dc6117a4fd2cf381faad869b4181a0c62f167ace..52a083a1205c386c2802bc0f1d077a12305bdf1b 100644 (file)
--- a/projects/microb2010/mainboard/uart_config.h
+++ b/projects/microb2010/mainboard/uart_config.h
@@ -27,33 +27,33 @@
 #define UART_CONFIG_H\r
 \r
 /*\r
- * UART0 definitions\r
+ * UART2 definitions\r
  */\r
 \r
-/* compile uart0 fonctions, undefine it to pass compilation */\r
-#define UART0_COMPILE\r
+/* compile uart2 fonctions, undefine it to pass compilation */\r
+#define UART2_COMPILE\r
 \r
-/* enable uart0 if == 1, disable if == 0 */\r
-#define UART0_ENABLED  1\r
+/* enable uart2 if == 1, disable if == 0 */\r
+#define UART2_ENABLED  1\r
 \r
-/* enable uart0 interrupts if == 1, disable if == 0 */\r
-#define UART0_INTERRUPT_ENABLED  1\r
+/* enable uart2 interrupts if == 1, disable if == 0 */\r
+#define UART2_INTERRUPT_ENABLED  1\r
 \r
-#define UART0_BAUDRATE 57600\r
+#define UART2_BAUDRATE 57600\r
 \r
 /*\r
  * if you enable this, the maximum baudrate you can reach is\r
  * higher, but the precision is lower.\r
  */\r
-#define UART0_USE_DOUBLE_SPEED 1\r
+#define UART2_USE_DOUBLE_SPEED 1\r
 \r
-#define UART0_RX_FIFO_SIZE 64\r
-#define UART0_TX_FIFO_SIZE 64\r
-#define UART0_NBITS 8\r
+#define UART2_RX_FIFO_SIZE 64\r
+#define UART2_TX_FIFO_SIZE 64\r
+#define UART2_NBITS 8\r
 \r
-#define UART0_PARITY UART_PARTITY_NONE\r
+#define UART2_PARITY UART_PARTITY_NONE\r
 \r
-#define UART0_STOP_BIT UART_STOP_BITS_1\r
+#define UART2_STOP_BIT UART_STOP_BITS_1\r
 \r
 /*\r
  * UART1 definitions\r