#include <ax12.h>
#include <uart.h>
#include <pwm_ng.h>
-#include <time.h>
+#include <clock_time.h>
#include <spi.h>
#include <encoders_spi.h>
#include "cmdline.h"
#include "strat_utils.h"
#include "strat_base.h"
-#include "strat_avoid.h"
#include "strat.h"
#include "../common/i2c_commands.h"
#include "i2c_protocol.h"
rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
RIGHT_ENCODER, res->right); //en augmentant on tourne à droite
}
- printf_P(PSTR("rs_gains set "));
- f64_print(mainboard.rs.left_ext_gain);
- printf_P(PSTR(" "));
- f64_print(mainboard.rs.right_ext_gain);
- printf_P(PSTR("\r\n"));
+ printf_P(PSTR("rs_gains set %2.2f %2.2f\r\n"),
+ mainboard.rs.left_ext_gain, mainboard.rs.right_ext_gain);
}
prog_char str_rs_gains_arg0[] = "rs_gains";
struct cmd_pt_list_result * res = parsed_result;
uint8_t i, why=0;
+ if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
+ printf_P(PSTR("not implemented\r\n"));
+ return;
+ }
+
if (!strcmp_P(res->arg1, PSTR("append"))) {
res->arg2 = pt_list_len;
}
trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
why = wait_traj_end(0xFF); /* all */
}
+#if 0
else if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
while (1) {
why = goto_and_avoid(pt_list[i].x, pt_list[i].y, 0xFF, 0xFF);
break;
}
}
+#endif
if (why & (~(END_TRAJ | END_NEAR)))
trajectory_stop(&mainboard.traj);
}
trajectory_goto_xy_abs(&mainboard.traj, res->arg2, res->arg3);
}
else if (!strcmp_P(res->arg1, PSTR("avoid"))) {
+#if 0
err = goto_and_avoid_forward(res->arg2, res->arg3, 0xFF, 0xFF);
if (err != END_TRAJ && err != END_NEAR)
strat_hardstop();
+#else
+ printf_P(PSTR("not implemented\r\n"));
+ return;
+#endif
}
else if (!strcmp_P(res->arg1, PSTR("avoid_bw"))) {
+#if 0
err = goto_and_avoid_backward(res->arg2, res->arg3, 0xFF, 0xFF);
if (err != END_TRAJ && err != END_NEAR)
strat_hardstop();
+#else
+ printf_P(PSTR("not implemented\r\n"));
+ return;
+#endif
}
else if (!strcmp_P(res->arg1, PSTR("xy_abs_fow"))) {
trajectory_goto_forward_xy_abs(&mainboard.traj, res->arg2, res->arg3);
}
else if (!strcmp_P(res->arg1, PSTR("autoset_green"))) {
mainboard.our_color = I2C_COLOR_GREEN;
- i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_GREEN);
- i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_GREEN);
+ i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_GREEN);
+ i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_GREEN);
auto_position();
}
else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
mainboard.our_color = I2C_COLOR_RED;
- i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_RED);
- i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_RED);
+ i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_RED);
+ i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_RED);
auto_position();
}
/* function called when cmd_strat_conf is parsed successfully */
static void cmd_strat_conf_parsed(void *parsed_result, void *data)
{
- struct cmd_strat_conf_result *res = parsed_result;
-
- if (!strcmp_P(res->arg1, PSTR("base"))) {
- strat_infos.conf.flags = 0;
- strat_infos.conf.scan_our_min_time = 90;
- strat_infos.conf.delay_between_our_scan = 90;
- strat_infos.conf.scan_opp_min_time = 90;
- strat_infos.conf.delay_between_opp_scan = 90;
- }
- else if (!strcmp_P(res->arg1, PSTR("big3"))) {
- strat_infos.conf.flags =
- STRAT_CONF_STORE_STATIC2 |
- STRAT_CONF_BIG_3_TEMPLE;
- strat_infos.conf.scan_our_min_time = 90;
- strat_infos.conf.delay_between_our_scan = 90;
- strat_infos.conf.scan_opp_min_time = 90;
- strat_infos.conf.delay_between_opp_scan = 90;
- }
- else if (!strcmp_P(res->arg1, PSTR("base_check"))) {
- strat_infos.conf.flags = 0;
- strat_infos.conf.scan_our_min_time = 35;
- strat_infos.conf.delay_between_our_scan = 90;
- strat_infos.conf.scan_opp_min_time = 90;
- strat_infos.conf.delay_between_opp_scan = 90;
- }
- else if (!strcmp_P(res->arg1, PSTR("big3_check"))) {
- strat_infos.conf.flags =
- STRAT_CONF_STORE_STATIC2 |
- STRAT_CONF_BIG_3_TEMPLE;
- strat_infos.conf.scan_our_min_time = 35;
- strat_infos.conf.delay_between_our_scan = 90;
- strat_infos.conf.scan_opp_min_time = 90;
- strat_infos.conf.delay_between_opp_scan = 90;
- }
- else if (!strcmp_P(res->arg1, PSTR("offensive_early"))) {
- strat_infos.conf.flags =
- STRAT_CONF_TAKE_ONE_LINTEL |
- STRAT_CONF_STORE_STATIC2 |
- STRAT_CONF_EARLY_SCAN |
- STRAT_CONF_PUSH_OPP_COLS;
- strat_infos.conf.scan_our_min_time = 50;
- strat_infos.conf.delay_between_our_scan = 90;
- strat_infos.conf.scan_opp_min_time = 15;
- strat_infos.conf.delay_between_opp_scan = 90;
- strat_infos.conf.wait_opponent = 5;
- }
- else if (!strcmp_P(res->arg1, PSTR("offensive_late"))) {
- strat_infos.conf.flags = STRAT_CONF_TAKE_ONE_LINTEL;
- strat_infos.conf.scan_our_min_time = 90;
- strat_infos.conf.delay_between_our_scan = 90;
- strat_infos.conf.scan_opp_min_time = 30;
- strat_infos.conf.delay_between_opp_scan = 90;
- }
- else if (!strcmp_P(res->arg1, PSTR("one_on_disc"))) {
- strat_infos.conf.flags =
- STRAT_CONF_ONLY_ONE_ON_DISC;
- strat_infos.conf.scan_our_min_time = 90;
- strat_infos.conf.delay_between_our_scan = 90;
- strat_infos.conf.scan_opp_min_time = 90;
- strat_infos.conf.delay_between_opp_scan = 90;
- }
+ // struct cmd_strat_conf_result *res = parsed_result;
+
strat_infos.dump_enabled = 1;
strat_dump_conf();
}
prog_char str_strat_conf_arg0[] = "strat_conf";
parse_pgm_token_string_t cmd_strat_conf_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg0, str_strat_conf_arg0);
-prog_char str_strat_conf_arg1[] = "show#base#big3#base_check#big3_check#offensive_early#offensive_late#one_on_disc";
+prog_char str_strat_conf_arg1[] = "show#base";
parse_pgm_token_string_t cmd_strat_conf_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg1, str_strat_conf_arg1);
prog_char help_strat_conf[] = "configure strat options";
else
on = 0;
+#if 0
if (!strcmp_P(res->arg1, PSTR("one_temple_on_disc")))
bit = STRAT_CONF_ONLY_ONE_ON_DISC;
else if (!strcmp_P(res->arg1, PSTR("bypass_static2")))
bit = STRAT_CONF_EARLY_SCAN;
else if (!strcmp_P(res->arg1, PSTR("push_opp_cols")))
bit = STRAT_CONF_PUSH_OPP_COLS;
+#endif
if (on)
strat_infos.conf.flags |= bit;
prog_char str_strat_conf2_arg0[] = "strat_conf";
parse_pgm_token_string_t cmd_strat_conf2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg0, str_strat_conf2_arg0);
-prog_char str_strat_conf2_arg1[] = "push_opp_cols#one_temple_on_disc#bypass_static2#take_one_lintel#skip_when_check_fail#store_static2#big3_temple#early_opp_scan";
+prog_char str_strat_conf2_arg1[] = "faux";
parse_pgm_token_string_t cmd_strat_conf2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg1, str_strat_conf2_arg1);
prog_char str_strat_conf2_arg2[] = "on#off";
parse_pgm_token_string_t cmd_strat_conf2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg2, str_strat_conf2_arg2);
/* function called when cmd_strat_conf3 is parsed successfully */
static void cmd_strat_conf3_parsed(void *parsed_result, void *data)
{
+#if 0
struct cmd_strat_conf3_result *res = parsed_result;
if (!strcmp_P(res->arg1, PSTR("scan_opponent_min_time"))) {
else if (!strcmp_P(res->arg1, PSTR("lintel_min_time"))) {
strat_infos.conf.lintel_min_time = res->arg2;
}
+#endif
strat_infos.dump_enabled = 1;
strat_dump_conf();
}
prog_char str_strat_conf3_arg0[] = "strat_conf";
parse_pgm_token_string_t cmd_strat_conf3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg0, str_strat_conf3_arg0);
-prog_char str_strat_conf3_arg1[] = "lintel_min_time#scan_opponent_min_time#delay_between_opponent_scan#scan_our_min_time#delay_between_our_scan#wait_opponent";
+prog_char str_strat_conf3_arg1[] = "faux2";
parse_pgm_token_string_t cmd_strat_conf3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg1, str_strat_conf3_arg1);
parse_pgm_token_num_t cmd_strat_conf3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf3_result, arg2, UINT16);
},
};
-/**********************************************************/
-/* strat configuration */
-
-/* this structure is filled when cmd_strat_conf4 is parsed successfully */
-struct cmd_strat_conf4_result {
- fixed_string_t arg0;
- fixed_string_t arg1;
- int16_t arg2;
-};
-
-/* function called when cmd_strat_conf4 is parsed successfully */
-static void cmd_strat_conf4_parsed(void *parsed_result, void *data)
-{
- struct cmd_strat_conf4_result *res = parsed_result;
-
- if (!strcmp_P(res->arg1, PSTR("scan_opponent_angle"))) {
- strat_infos.conf.scan_opp_angle = res->arg2;
- }
- strat_infos.dump_enabled = 1;
- strat_dump_conf();
-}
-
-prog_char str_strat_conf4_arg0[] = "strat_conf";
-parse_pgm_token_string_t cmd_strat_conf4_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf4_result, arg0, str_strat_conf4_arg0);
-prog_char str_strat_conf4_arg1[] = "scan_opponent_angle";
-parse_pgm_token_string_t cmd_strat_conf4_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf4_result, arg1, str_strat_conf4_arg1);
-parse_pgm_token_num_t cmd_strat_conf4_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf4_result, arg2, UINT16);
-
-prog_char help_strat_conf4[] = "configure strat options";
-parse_pgm_inst_t cmd_strat_conf4 = {
- .f = cmd_strat_conf4_parsed, /* function to call */
- .data = NULL, /* 2nd arg of func */
- .help_str = help_strat_conf4,
- .tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_strat_conf4_arg0,
- (prog_void *)&cmd_strat_conf4_arg1,
- (prog_void *)&cmd_strat_conf4_arg2,
- NULL,
- },
-};
-
/**********************************************************/
/* Subtraj */
/* function called when cmd_subtraj is parsed successfully */
static void cmd_subtraj_parsed(void *parsed_result, void *data)
{
- struct cmd_subtraj_result *res = parsed_result;
- uint8_t err = 0;
- struct column_dispenser *disp;
-
- if (strcmp_P(res->arg1, PSTR("static")) == 0) {
- err = strat_static_columns(res->arg2);
- }
- else if (strcmp_P(res->arg1, PSTR("static2")) == 0) {
- strat_infos.s_cols.configuration = res->arg2;
- switch (res->arg2) {
- case 1:
- position_set(&mainboard.pos, 1398,
- COLOR_Y(1297), COLOR_A(-66));
- break;
- case 2:
- position_set(&mainboard.pos, 1232,
- COLOR_Y(1051), COLOR_A(4));
- break;
- case 3:
- position_set(&mainboard.pos, 1232,
- COLOR_Y(1043), COLOR_A(5));
- break;
- case 4:
- position_set(&mainboard.pos, 1346,
- COLOR_Y(852), COLOR_A(57));
- break;
- default:
- return;
- }
- if (res->arg2 == 1 && res->arg3 == 1) {
- strat_infos.s_cols.flags = STATIC_COL_LINE1_DONE;
- }
- if (res->arg2 == 1 && res->arg3 == 2) {
- strat_infos.s_cols.flags = STATIC_COL_LINE2_DONE;
- }
- err = strat_static_columns_pass2();
- }
- else if (strcmp_P(res->arg1, PSTR("lintel1")) == 0) {
- err = strat_goto_lintel_disp(&strat_infos.l1);
- }
- else if (strcmp_P(res->arg1, PSTR("lintel2")) == 0) {
- err = strat_goto_lintel_disp(&strat_infos.l2);
- }
- else if (strcmp_P(res->arg1, PSTR("coldisp1")) == 0) {
- disp = &strat_infos.c1;
- err = strat_goto_col_disp(&disp);
- }
- else if (strcmp_P(res->arg1, PSTR("coldisp2")) == 0) {
- disp = &strat_infos.c2;
- err = strat_goto_col_disp(&disp);
- }
- else if (strcmp_P(res->arg1, PSTR("coldisp3")) == 0) {
- disp = &strat_infos.c3;
- err = strat_goto_col_disp(&disp);
- }
- else if (strcmp_P(res->arg1, PSTR("disc")) == 0) {
- if (res->arg2 == 0) {
- printf_P(PSTR("bad level\r\n"));
- return;
- }
- err = strat_goto_disc(res->arg2);
- }
+/* struct cmd_subtraj_result *res = parsed_result; */
- printf_P(PSTR("substrat returned %s\r\n"), get_err(err));
+ printf_P(PSTR("TODO\r\n"));
trajectory_hardstop(&mainboard.traj);
}
prog_char str_subtraj_arg0[] = "subtraj";
parse_pgm_token_string_t cmd_subtraj_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg0, str_subtraj_arg0);
-prog_char str_subtraj_arg1[] = "static#disc#lintel1#lintel2#coldisp1#coldisp2#coldisp3#static2";
+prog_char str_subtraj_arg1[] = "faux";
parse_pgm_token_string_t cmd_subtraj_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg1, str_subtraj_arg1);
parse_pgm_token_num_t cmd_subtraj_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg2, INT32);
parse_pgm_token_num_t cmd_subtraj_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg3, INT32);
git.droids-corp.org / aversive.git / blobdiff