real tests

diff --git a/projects/microb2010/cobboard/main.c b/projects/microb2010/cobboard/main.c
index d01a92e83e42cc35a64e5c7f0b14c5896cb1c5af..ad496ca471e2b6085dae2f0fbfbf703d95a41257 100755 (executable)
--- a/projects/microb2010/cobboard/main.c
+++ b/projects/microb2010/cobboard/main.c
@@ -211,10 +211,10 @@ int main(void)
        PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
                                 TIMER4_PRESCALER_DIV_1);
 
-       PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
-                     &PORTD, 4);
-       PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED |
-                     PWM_NG_MODE_SIGN_INVERTED, &PORTD, 5);
+       PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED |
+                     PWM_NG_MODE_SIGN_INVERTED, &PORTD, 4);
+       PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
+                     &PORTD, 5);
        PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
                      &PORTD, 6);
        PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED |

diff --git a/projects/microb2010/cobboard/main.h b/projects/microb2010/cobboard/main.h
index d539a468c860af3f16f02d684b74cec15fb8157e..80469eab6c773cab3ed4afc447d487435df45989 100755 (executable)
--- a/projects/microb2010/cobboard/main.h
+++ b/projects/microb2010/cobboard/main.h
@@ -48,16 +48,16 @@
 #define BRAKE_ON()      do { PORTJ |= 0xF0; } while(0)
 #define BRAKE_OFF()     do { PORTJ &= 0x0F; } while(0)
 
-#define LEFT_SPICKLE_ENCODER   ((void *)0)
-#define RIGHT_SPICKLE_ENCODER  ((void *)1)
+#define RIGHT_SPICKLE_ENCODER  ((void *)0)
+#define LEFT_SPICKLE_ENCODER   ((void *)1)
 #define SHOVEL_ENCODER         ((void *)2)
 
 #define SERVO_DOOR_PWM         ((void *)&gen.servo2)
 #define SERVO_CARRY_L_PWM      ((void *)&gen.servo1)
 #define SERVO_CARRY_R_PWM      ((void *)&gen.servo3)
 
-#define LEFT_SPICKLE_PWM       ((void *)&gen.pwm1_4A)
-#define RIGHT_SPICKLE_PWM      ((void *)&gen.pwm2_4B)
+#define RIGHT_SPICKLE_PWM      ((void *)&gen.pwm1_4A)
+#define LEFT_SPICKLE_PWM       ((void *)&gen.pwm2_4B)
 #define SHOVEL_PWM             ((void *)&gen.pwm3_1A)
 
 /** ERROR NUMS */

diff --git a/projects/microb2010/mainboard/commands_traj.c b/projects/microb2010/mainboard/commands_traj.c
index 0bd04b50058be823f08547183ca2aee1b45b9155..e0e6a1b4e522efbf3a2e77cf1d6374a556445cf0 100644 (file)
--- a/projects/microb2010/mainboard/commands_traj.c
+++ b/projects/microb2010/mainboard/commands_traj.c
@@ -831,7 +831,7 @@ static void auto_position(void)
                goto intr;
        strat_reset_pos(ROBOT_WIDTH/2 + 100,
                        COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
-                       COLOR_A(-90));
+                       COLOR_A(-90) + ROBOT_ANGLE_FRONT);
        strat_hardstop();
 
        trajectory_d_rel(&mainboard.traj, -180);
@@ -851,7 +851,7 @@ static void auto_position(void)
                goto intr;
        strat_reset_pos(ROBOT_HALF_LENGTH_FRONT,
                        DO_NOT_SET_POS,
-                       180);
+                       180 + ROBOT_ANGLE_FRONT);
        strat_hardstop();
 
        trajectory_d_rel(&mainboard.traj, -170);

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index 896fa163570950e56ce533717f9f41c99eb59146..070046955e7d2dbcbbf6860a549ca905ee209cd3 100644 (file)
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -223,7 +223,7 @@ void microb_cs_init(void)
        position_init(&mainboard.pos);
        position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
        position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
-       //position_set_centrifugal_coef(&mainboard.pos, 0.000025);
+       position_set_centrifugal_coef(&mainboard.pos, 0.000016);
        position_use_ext(&mainboard.pos);
 
        /* TRAJECTORY MANAGER */

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 54e03b0711a7f623d5efbbe0a1d8c34b90623115..03bc688a35f41acf5076bfe43d64165ea3c245b0 100755 (executable)
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -83,6 +83,12 @@
 #define ROBOT_HALF_LENGTH_REAR 120
 #define ROBOT_WIDTH 320
 
+#ifdef HOST_VERSION
+#define ROBOT_ANGLE_FRONT 0.
+#else
+#define ROBOT_ANGLE_FRONT 0.75 // 0.27
+#endif
+
 /* it is a 1024 imps -> 4096 because we see 1/4 period
  * and diameter: 55mm -> perimeter 134mm
  * dist_imp_mm = 4096/134 x 10 -> 304 */

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index dc595815841cf7007f2e8575b46cc2bc419344c8..64562f530c77ebc69a50f448ea6989ed486c1b56 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -112,12 +112,14 @@ void strat_conf_dump(const char *caller)
                return;
 
        printf_P(PSTR("-- conf --\r\n"));
-       printf_P(PSTR("our_orange = %s\n"),
+       printf_P(PSTR("our_orange = %s\r\n"),
                 (strat_conf.flags & STRAT_CONF_OUR_ORANGE) ? "y":"n");
-       printf_P(PSTR("wait_obstacle = %s\n"),
+       printf_P(PSTR("wait_obstacle = %s\r\n"),
                 (strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE) ? "y":"n");
-       printf_P(PSTR("opp_orange = %d\n"), strat_conf.opp_orange);
-       printf_P(PSTR("orphan_tomato = %d\n"), strat_conf.orphan_tomato);
+       printf_P(PSTR("straight begin = %s\r\n"),
+                (strat_conf.flags & STRAT_CONF_STRAIGHT_BEGIN) ? "y":"n");
+       printf_P(PSTR("opp_orange = %d\r\n"), strat_conf.opp_orange);
+       printf_P(PSTR("orphan_tomato = %d\r\n"), strat_conf.orphan_tomato);
 }
 
 void strat_event_enable(void)
@@ -144,6 +146,8 @@ void strat_init(void)
        time_reset();
        interrupt_traj_reset();
 
+       i2c_cobboard_deploy(I2C_LEFT_SIDE);
+       i2c_cobboard_deploy(I2C_RIGHT_SIDE);
        i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
        i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 
@@ -239,13 +243,12 @@ static void check_corn(void)
        ballboard.rcob = I2C_COB_NONE;
        IRQ_UNLOCK(flags);
 
-       /* XXX take opponent position into account */
-
        /* check present cobs once per second */
        cur_time = time_get_s();
        if (cur_time != prev_check_time) {
                uint8_t i;
 
+               /* only useful for simu */
                for (i = 0; i < CORN_NB; i++) {
                        if (strat_db.corn_table[i]->present == 1 &&
                            strat_db.corn_table[i]->time_removed != -1 &&
@@ -297,6 +300,8 @@ static void check_corn(void)
 #ifdef HOST_VERSION
                                        cobboard.cob_count ++;
                                        printf("add cob %d\n", lidx);
+#else
+                                       strat_db.corn_table[lidx]->present = 0;
 #endif
                                }
                        }
@@ -332,6 +337,8 @@ static void check_corn(void)
 #ifdef HOST_VERSION
                                        cobboard.cob_count ++;
                                        printf("add cob %d\n", ridx);
+#else
+                                       strat_db.corn_table[ridx]->present = 0;
 #endif
                                }
                        }
@@ -511,28 +518,29 @@ static uint8_t strat_eject(void)
 #endif
        }
 
-       /* half turn */
-       trajectory_a_abs(&mainboard.traj, COLOR_A(-110));
-       err = wait_traj_end(END_INTR|END_TRAJ);
-       if (!TRAJ_SUCCESS(err))
-               goto fail;
+       if (get_cob_count() > 0) {
+               /* half turn */
+               trajectory_a_abs(&mainboard.traj, COLOR_A(-110));
+               err = wait_traj_end(END_INTR|END_TRAJ);
+               if (!TRAJ_SUCCESS(err))
+                       goto fail;
 
-       /* cob ejection */
-       trajectory_d_rel(&mainboard.traj, -70);
-       err = wait_traj_end(END_INTR|END_TRAJ);
-       if (!TRAJ_SUCCESS(err))
-               goto fail;
+               /* cob ejection */
+               trajectory_d_rel(&mainboard.traj, -70);
+               err = wait_traj_end(END_INTR|END_TRAJ);
+               if (!TRAJ_SUCCESS(err))
+                       goto fail;
 
-       if (get_cob_count() > 0) {
                i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
                time_wait_ms(2000);
-       }
 
-       /* cob ejection */
-       trajectory_d_rel(&mainboard.traj, 70);
-       err = wait_traj_end(END_INTR|END_TRAJ);
-       if (!TRAJ_SUCCESS(err))
-               goto fail;
+
+               /* cob ejection */
+               trajectory_d_rel(&mainboard.traj, 70);
+               err = wait_traj_end(END_INTR|END_TRAJ);
+               if (!TRAJ_SUCCESS(err))
+                       goto fail;
+       }
 
        strat_db_dump(__FUNCTION__);
        err = END_TRAJ;
@@ -550,7 +558,8 @@ static uint8_t strat_beginning(uint8_t do_initturn)
        strat_set_acc(ACC_DIST, ACC_ANGLE);
 
        if (do_initturn) {
-               strat_set_speed(600, 60); /* OK */
+               //strat_set_speed(600, 60);
+               strat_set_speed(450, 50);
                trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
                err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
                                            TRAJ_FLAGS_STD);
@@ -594,7 +603,7 @@ static uint8_t strat_beginning2(uint8_t do_initturn)
        strat_set_acc(ACC_DIST, ACC_ANGLE);
 
        if (do_initturn) {
-               strat_set_speed(600, 90); /* OK */
+               strat_set_speed(600, 95); /* OK */
                trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(-40));
                err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
                                            TRAJ_FLAGS_STD);
@@ -751,7 +760,7 @@ uint8_t get_orphan_tomatoes(void)
        if (ABS(a) < 10)
                strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_FRONT,
                                DO_NOT_SET_POS,
-                               COLOR_A(0));
+                               COLOR_A(0) + ROBOT_ANGLE_FRONT);
 
        strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_FAST);
        trajectory_d_rel(&mainboard.traj, -250);
@@ -810,6 +819,7 @@ uint8_t prepare_hill(uint8_t orange_color, int16_t posx)
        uint8_t our_color = get_color();
        uint8_t err;
 
+       strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
        if (orange_color == I2C_COLOR_YELLOW)
                starty = HILL_POSY_YELLOW;
        else
@@ -866,7 +876,6 @@ uint8_t run_to_the_hills(uint8_t orange_color)
        bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 2000000, 80);
        bd_set_speed_threshold(&mainboard.distance.bd, 10);
        support_balls_pack();
-       i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
 
        /* decrease angle gains */
        pid_set_gains(&mainboard.angle.pid, 200, 0, 2000);
@@ -875,10 +884,16 @@ uint8_t run_to_the_hills(uint8_t orange_color)
         * are on the hill */
        i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
        trajectory_d_rel(&mainboard.traj, HILL_LEN);
-       err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
-                                   HILL_POSX_BALLS_DOWN1,
-                                   TRAJ_FLAGS_SMALL_DIST);
+       if (orange_color == our_color)
+               err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
+                                           HILL_POSX_BALLS_DOWN1,
+                                           TRAJ_FLAGS_SMALL_DIST);
+       else
+               err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
+                                           AREA_X - HILL_POSX_BALLS_DOWN1,
+                                           TRAJ_FLAGS_SMALL_DIST);
        DEBUG(E_USER_STRAT, "deploy support balls");
+       i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
        support_balls_deploy();
        i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_UP);
        trajectory_only_a_rel(&mainboard.traj, 2);
@@ -894,26 +909,38 @@ uint8_t run_to_the_hills(uint8_t orange_color)
        /* reach top, go down */
        trajectory_d_rel(&mainboard.traj, -HILL_LEN);
 
-       err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
-                                   HILL_POSX_BALLS_DOWN2,
-                                   TRAJ_FLAGS_SMALL_DIST);
+       if (orange_color == our_color)
+               err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
+                                           HILL_POSX_BALLS_DOWN2,
+                                           TRAJ_FLAGS_SMALL_DIST);
+       else
+               err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
+                                           AREA_X - HILL_POSX_BALLS_DOWN2,
+                                           TRAJ_FLAGS_SMALL_DIST);
        DEBUG(E_USER_STRAT, "pack support balls");
        support_balls_pack();
-       err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
-                                   HILL_POSX_BALLS_DOWN3,
-                                   TRAJ_FLAGS_SMALL_DIST);
+       if (orange_color == our_color)
+               err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
+                                           HILL_POSX_BALLS_DOWN3,
+                                           TRAJ_FLAGS_SMALL_DIST);
+       else
+               err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
+                                           AREA_X - HILL_POSX_BALLS_DOWN3,
+                                           TRAJ_FLAGS_SMALL_DIST);
+
        DEBUG(E_USER_STRAT, "deploy support balls");
        strat_set_acc(ad, aa);
        strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
        support_balls_deploy();
-       err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
-       i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 
        /* wait to be near the wall */
-       err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) < 200,
-                                   TRAJ_FLAGS_SMALL_DIST);
-
-       i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+       if (orange_color == our_color)
+               err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) < 300,
+                                           TRAJ_FLAGS_SMALL_DIST);
+       else
+               err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
+                                           AREA_X - 300,
+                                           TRAJ_FLAGS_SMALL_DIST);
 
        /* restore BD coefs */
        bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
@@ -921,33 +948,42 @@ uint8_t run_to_the_hills(uint8_t orange_color)
        bd_set_speed_threshold(&mainboard.distance.bd, 60);
 
        /* calibrate position on the wall */
-       strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
-       err = strat_calib(-400, TRAJ_FLAGS_SMALL_DIST);
-       if (orange_color == our_color)
-               strat_reset_pos(ROBOT_HALF_LENGTH_REAR,
-                            DO_NOT_SET_POS, COLOR_A(0));
-       else
-               strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_REAR,
-                            DO_NOT_SET_POS, COLOR_A(180));
+       strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_SLOW);
+
+       i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+
+       trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
+       err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+       time_wait_ms(200);
+
+       err = strat_calib(400, TRAJ_FLAGS_SMALL_DIST);
+       strat_reset_pos(DO_NOT_SET_POS,
+                       COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
+                       COLOR_A(-90) + ROBOT_ANGLE_FRONT);
        strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 
-       trajectory_d_rel(&mainboard.traj, 250);
+       trajectory_d_rel(&mainboard.traj, -250);
        err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
-       if (orange_color == I2C_COLOR_YELLOW)
-               trajectory_a_rel(&mainboard.traj, 90);
+       if (orange_color == our_color)
+               trajectory_a_abs(&mainboard.traj, 180);
        else
-               trajectory_a_rel(&mainboard.traj, -90);
+               trajectory_a_abs(&mainboard.traj, 0);
        err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
        time_wait_ms(200);
 
        strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
-       err = strat_calib(-400, TRAJ_FLAGS_SMALL_DIST);
-       strat_reset_pos(DO_NOT_SET_POS,
-                       COLOR_Y(ROBOT_HALF_LENGTH_REAR),
-                       COLOR_A(90));
+       err = strat_calib(400, TRAJ_FLAGS_SMALL_DIST);
+       if (orange_color == our_color)
+               strat_reset_pos(ROBOT_HALF_LENGTH_FRONT,
+                               DO_NOT_SET_POS,
+                               180 + ROBOT_ANGLE_FRONT);
+       else
+               strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_FRONT,
+                               DO_NOT_SET_POS,
+                               0 + ROBOT_ANGLE_FRONT);
        strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 
-       trajectory_d_rel(&mainboard.traj, 250);
+       trajectory_d_rel(&mainboard.traj, -250);
        err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 
        /* revert acceleration and speed */

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index e8572fca1f0ad47136ae43a5e90dabf8246cda72..ea2a6ecb878b64b6cecd1f617c5a21b243b2aa1c 100644 (file)
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -131,7 +131,7 @@
 #define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
 
 /* default acc */
-#define ACC_DIST  16.
+#define ACC_DIST  12.
 #define ACC_ANGLE 16.
 
 /* default speeds */

diff --git a/projects/microb2010/mainboard/strat_base.c b/projects/microb2010/mainboard/strat_base.c
index 871648666119706f8bd6aff0dd3aad538279b473..d68f5a608c65a2979e2ea835d8fa34f7e05a6d78 100644 (file)
--- a/projects/microb2010/mainboard/strat_base.c
+++ b/projects/microb2010/mainboard/strat_base.c
@@ -143,18 +143,18 @@ uint8_t strat_goto_xy_force(int16_t x, int16_t y)
 }
 
 /* reset position */
-void strat_reset_pos(int16_t x, int16_t y, int16_t a)
+void strat_reset_pos(int16_t x, int16_t y, double a)
 {
-       int16_t posx = position_get_x_s16(&mainboard.pos);
-       int16_t posy = position_get_y_s16(&mainboard.pos);
-       int16_t posa = position_get_a_deg_s16(&mainboard.pos);
+       double posx = position_get_x_double(&mainboard.pos);
+       double posy = position_get_y_double(&mainboard.pos);
+       double posa = position_get_a_rad_double(&mainboard.pos);
 
        if (x == DO_NOT_SET_POS)
                x = posx;
        if (y == DO_NOT_SET_POS)
                y = posy;
        if (a == DO_NOT_SET_POS)
-               a = posa;
+               a = DEG(posa);
 
        /* some issues with blocking on simulator */
 #ifdef HOST_VERSION
@@ -217,7 +217,7 @@ uint8_t strat_calib(int16_t dist, uint8_t flags)
        trajectory_d_rel(&mainboard.traj, dist);
        pid_set_maximums(&mainboard.distance.pid, max_in, max_i, 4095);
        pid_set_gains(&mainboard.angle.pid, 1, 0, 0);
-       time_wait_ms(300);
+       time_wait_ms(500);
        strat_hardstop();
 
 #ifdef HOST_VERSION

diff --git a/projects/microb2010/mainboard/strat_base.h b/projects/microb2010/mainboard/strat_base.h
index bcabf2bcf912a1876ea7d6c825672681f0289443..efc9af451f8df62c4abb8abace50aa55797ab874 100644 (file)
--- a/projects/microb2010/mainboard/strat_base.h
+++ b/projects/microb2010/mainboard/strat_base.h
@@ -45,7 +45,7 @@ void strat_hardstop(void);
 #define DO_NOT_SET_POS -1000
 /* Reset position. If arg == DO_NOT_SET_POS, don't update value for
  * it. */
-void strat_reset_pos(int16_t x, int16_t y, int16_t a);
+void strat_reset_pos(int16_t x, int16_t y, double a);
 
 /* decrease gain on angle PID, and go forward until we reach the
  * border. */