From: zer0 <zer0@carbon.local>
Date: Fri, 30 Apr 2010 19:08:37 +0000 (+0200)
Subject: traj update
X-Git-Url: http://git.droids-corp.org/?a=commitdiff_plain;h=96748eb468a27a784f148c89db593372357d9e2d;p=aversive.git

traj update
---

diff --git a/projects/microb2010/mainboard/display.py b/projects/microb2010/mainboard/display.py
index 6106ff0..b508407 100644
--- a/projects/microb2010/mainboard/display.py
+++ b/projects/microb2010/mainboard/display.py
@@ -345,7 +345,7 @@ while True:
             if not m:
                 m = re.match("ballboard=%s"%(INT), l)
                 if m:
-                    print int(m.groups()[0])
+                    print "ballboard: %d"%(int(m.groups()[0]))
 
             # parse cobboard
             if not m:
diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 3839738..ea84669 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -163,6 +163,14 @@ void strat_event(void *dummy)
 
 	/* XXX take opponent position into account */
 
+#ifdef HOST_VERSION
+	if (time_get_s() == 15)
+		cobboard.cob_count = 5;
+	if (time_get_s() == 16)
+		cobboard.cob_count = 0;
+	if (time_get_s() == 25)
+		cobboard.cob_count = 5;
+#endif
 
 	/* detect cob on left side */
 	if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
@@ -225,37 +233,34 @@ static uint8_t strat_beginning(void)
 
 #if 1
  l1:
+	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 	if (get_cob_count() >= 5)
 		strat_set_speed(600, SPEED_ANGLE_FAST);
 
 	err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
 	if (!TRAJ_SUCCESS(err)) {
-		trajectory_hardstop(&mainboard.traj);
+		strat_hardstop();
 		time_wait_ms(2000);
 		goto l1;
 	}
 
  l2:
+	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 	if (get_cob_count() >= 5)
 		strat_set_speed(600, SPEED_ANGLE_FAST);
 
 	err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
 	if (!TRAJ_SUCCESS(err)) {
-		trajectory_hardstop(&mainboard.traj);
+		strat_hardstop();
 		time_wait_ms(2000);
 		goto l2;
 	}
 
- l3:
-	if (get_cob_count() >= 5)
-		strat_set_speed(600, SPEED_ANGLE_FAST);
+	WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
+			      TRAJ_FLAGS_STD);
+	trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+	err = wait_traj_end(END_INTR|END_TRAJ);
 
-	err = line2line(LINE_R_UP, 2, LINE_UP, 5);
-	if (!TRAJ_SUCCESS(err)) {
-		trajectory_hardstop(&mainboard.traj);
-		time_wait_ms(2000);
-		goto l3;
-	}
 #else
 	strat_set_speed(600, SPEED_ANGLE_FAST);
 	err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
@@ -268,11 +273,13 @@ static uint8_t strat_beginning(void)
 	err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
 	err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
 	wait_ms(500);
-	trajectory_hardstop(&mainboard.traj);
+	strat_hardstop();
 	return END_TRAJ;
 #endif
 
-	trajectory_hardstop(&mainboard.traj);
+	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+	strat_hardstop();
+	strat_set_speed(600, SPEED_ANGLE_FAST);
 
 	/* ball ejection */
 	trajectory_a_abs(&mainboard.traj, COLOR_A(90));
@@ -280,8 +287,62 @@ static uint8_t strat_beginning(void)
 	time_wait_ms(2000);
 
 	/* half turn */
+	i2c_cobboard_pack(I2C_LEFT_SIDE);
+	i2c_cobboard_pack(I2C_RIGHT_SIDE);
+	trajectory_a_rel(&mainboard.traj, COLOR_A(180));
+	err = wait_traj_end(END_INTR|END_TRAJ);
+
+	/* cob ejection */
+	trajectory_d_rel(&mainboard.traj, -100);
+	err = wait_traj_end(END_INTR|END_TRAJ);
+	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+	time_wait_ms(2000);
+
+	strat_set_speed(250, SPEED_ANGLE_FAST);
+
+ l4:
+	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+	if (get_cob_count() >= 5)
+		strat_set_speed(600, SPEED_ANGLE_FAST);
+
+	err = line2line(LINE_DOWN, 5, LINE_L_UP, 2);
+	if (!TRAJ_SUCCESS(err)) {
+		strat_hardstop();
+		time_wait_ms(2000);
+		goto l4;
+	}
+
+ l5:
+	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+	if (get_cob_count() >= 5)
+		strat_set_speed(600, SPEED_ANGLE_FAST);
+
+	err = line2line(LINE_L_UP, 2, LINE_R_UP, 2);
+	if (!TRAJ_SUCCESS(err)) {
+		strat_hardstop();
+		time_wait_ms(2000);
+		goto l5;
+	}
+
+	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+	if (get_cob_count() >= 5)
+		strat_set_speed(600, SPEED_ANGLE_FAST);
+
+	WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
+			      TRAJ_FLAGS_STD);
 	trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
 	err = wait_traj_end(END_INTR|END_TRAJ);
+
+	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+	strat_hardstop();
+	strat_set_speed(600, SPEED_ANGLE_FAST);
+
+	/* ball ejection */
+	trajectory_a_abs(&mainboard.traj, COLOR_A(90));
+	i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+	time_wait_ms(2000);
+
+	/* half turn */
 	i2c_cobboard_pack(I2C_LEFT_SIDE);
 	i2c_cobboard_pack(I2C_RIGHT_SIDE);
 	trajectory_a_rel(&mainboard.traj, COLOR_A(180));
@@ -293,7 +354,6 @@ static uint8_t strat_beginning(void)
 	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 	time_wait_ms(2000);
 
-	trajectory_hardstop(&mainboard.traj);
 	return END_TRAJ;
 }
 
diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index 7fa64c4..f8a9666 100644
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -218,9 +218,10 @@ uint8_t line2line(uint8_t dir1, uint8_t num1,
 	strat_get_speed(&d_speed, &a_speed);
 
 	/* XXX 600 -> cste */
-	if (err == 0 && d_speed < 600 &&
-	    mainboard.traj.state == RUNNING_CLITOID_LINE)
-		strat_set_speed(600, SPEED_ANGLE_FAST);
+/* 	if (err == 0 && d_speed < 600 && */
+/* 	    mainboard.traj.state == RUNNING_CLITOID_LINE) */
+/* 		strat_set_speed(600, SPEED_ANGLE_FAST); */
+
 	err = wait_traj_end(0xFF);
 
 	return err;
diff --git a/projects/microb2010/mainboard/strat_db.c b/projects/microb2010/mainboard/strat_db.c
index 18db6ea..2d38967 100644
--- a/projects/microb2010/mainboard/strat_db.c
+++ b/projects/microb2010/mainboard/strat_db.c
@@ -149,7 +149,7 @@ int8_t ijcoord_to_xycoord(uint8_t i, uint8_t j, int16_t *x, int16_t *y)
 	if (i >= WAYPOINTS_NBX && j >= WAYPOINTS_NBY)
 		return -1;
 	*x = (OFFSET_CORN_X + i*STEP_CORN_X);
-	*y = (OFFSET_CORN_Y + j*STEP_CORN_Y);
+	*y = COLOR_Y(OFFSET_CORN_Y + j*STEP_CORN_Y);
 	return 0;
 }
 
@@ -188,6 +188,7 @@ int8_t corn_idx_to_xycoord(uint8_t idx, int16_t *x, int16_t *y)
 	return 0;
 }
 
+#define CORN_MARGIN 200
 /* return the index of the closest corn at these coordinates. If the
  * corn is really too far (~20cm), return NULL. The x and y pointer are
  * updated with the real position of the corn */
@@ -202,8 +203,7 @@ struct waypoint_db *xycoord_to_corn_idx(int16_t *x, int16_t *y)
 	for (n = 0; n < CORN_NB; n ++) {
 		corn_idx_to_xycoord(n, &x_corn, &y_corn);
 		d = xy_norm(x_corn, y_corn, *x, *y);
-		/* XXX 200 -> constant */
-		if (d < 200 && (d_min == 0 || d < d_min)) {
+		if (d < CORN_MARGIN && (d_min == 0 || d < d_min)) {
 			d_min = d;
 			idx = n;
 			x_corn_min = x_corn;
@@ -341,6 +341,7 @@ int8_t tomato_idx_to_xycoord(uint8_t idx, int16_t *x, int16_t *y)
 	return 0;
 }
 
+#define TOMATO_MARGIN 200
 /* return the index of the closest tomato at these coordinates. If the
  * tomato is really too far (~20cm), return NULL. The x and y pointer are
  * updated with the real position of the tomato */
@@ -355,8 +356,7 @@ struct waypoint_db *xycoord_to_tomato_idx(int16_t *x, int16_t *y)
 	for (n = 0; n < TOMATO_NB; n ++) {
 		tomato_idx_to_xycoord(n, &x_tomato, &y_tomato);
 		d = xy_norm(x_tomato, y_tomato, *x, *y);
-		/* XXX 200 -> constant */
-		if (d < 200 && (d_min == 0 || d < d_min)) {
+		if (d < TOMATO_MARGIN && (d_min == 0 || d < d_min)) {
 			d_min = d;
 			idx = n;
 			x_tomato_min = x_tomato;