From: zer0 <zer0@carbon.local>
Date: Thu, 13 May 2010 04:40:42 +0000 (+0200)
Subject: cup1
X-Git-Url: http://git.droids-corp.org/?a=commitdiff_plain;h=d78a81c0df6dfe318d873a6f877e53cfb957ad8e;p=aversive.git

cup1
---

diff --git a/projects/microb2010/ballboard/actuator.c b/projects/microb2010/ballboard/actuator.c
index 0dc89ff..c635fe9 100644
--- 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 6bfd518..262f73c 100644
--- 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 e777e49..6c229a4 100644
--- 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 058a7b7..e04e18f 100644
--- 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 2d65208..535829f 100644
--- 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 13cd4cd..cc78ca7 100644
--- 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 03bc688..f98bd99 100755
--- 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 64562f5..7f7b9d9 100644
--- 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 d68f5a6..023db36 100644
--- 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 dc6117a..52a083a 100644
--- a/projects/microb2010/mainboard/uart_config.h
+++ b/projects/microb2010/mainboard/uart_config.h
@@ -27,33 +27,33 @@
 #define UART_CONFIG_H
 
 /*
- * UART0 definitions
+ * UART2 definitions
  */
 
-/* compile uart0 fonctions, undefine it to pass compilation */
-#define UART0_COMPILE
+/* compile uart2 fonctions, undefine it to pass compilation */
+#define UART2_COMPILE
 
-/* enable uart0 if == 1, disable if == 0 */
-#define UART0_ENABLED  1
+/* enable uart2 if == 1, disable if == 0 */
+#define UART2_ENABLED  1
 
-/* enable uart0 interrupts if == 1, disable if == 0 */
-#define UART0_INTERRUPT_ENABLED  1
+/* enable uart2 interrupts if == 1, disable if == 0 */
+#define UART2_INTERRUPT_ENABLED  1
 
-#define UART0_BAUDRATE 57600
+#define UART2_BAUDRATE 57600
 
 /*
  * if you enable this, the maximum baudrate you can reach is
  * higher, but the precision is lower.
  */
-#define UART0_USE_DOUBLE_SPEED 1
+#define UART2_USE_DOUBLE_SPEED 1
 
-#define UART0_RX_FIFO_SIZE 64
-#define UART0_TX_FIFO_SIZE 64
-#define UART0_NBITS 8
+#define UART2_RX_FIFO_SIZE 64
+#define UART2_TX_FIFO_SIZE 64
+#define UART2_NBITS 8
 
-#define UART0_PARITY UART_PARTITY_NONE
+#define UART2_PARITY UART_PARTITY_NONE
 
-#define UART0_STOP_BIT UART_STOP_BITS_1
+#define UART2_STOP_BIT UART_STOP_BITS_1
 
 /*
  * UART1 definitions