track opponent

[aversive.git] / projects / microb2010 / mainboard / strat.c

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index dd7b23c..dd06751 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -336,6 +336,38 @@ static void check_corn(void)
        }
 }
 
+/* check opponent position */
+void check_opponent(void)
+{
+       int16_t x, y;
+       uint8_t i, j;
+
+       if (get_opponent_xy(&x, &y) < 0)
+               return;
+
+       /* check for oranges after 5 seconds */
+       if (time_get_s() > 5) {
+               if (mainboard.our_color == I2C_COLOR_YELLOW) {
+                       if (y < 500 && x < 500)
+                               strat_db.our_oranges_count = 0;
+                       if (y < 500 && x > AREA_X - 500)
+                               strat_db.opp_oranges_count = 0;
+               }
+               else {
+                       if (y > AREA_Y - 500 && x < 500)
+                               strat_db.our_oranges_count = 0;
+                       if (y > AREA_Y - 500 && x > AREA_X - 500)
+                               strat_db.opp_oranges_count = 0;
+               }
+       }
+
+       /* malus for some tomatoes and cobs, visited by opponent */
+       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+               return;
+
+       strat_db.wp_table[i][j].opp_visited = 1;
+}
+
 /* called periodically (10ms) */
 void strat_event(void *dummy)
 {
@@ -345,6 +377,7 @@ void strat_event(void *dummy)
 
        check_tomato();
        check_corn();
+       check_opponent();
 
        /* limit speed when opponent is near */
        /* disabled for 2010, we are already slow :) */
@@ -360,7 +393,7 @@ static uint8_t robot_is_on_eject_line(void)
        x = position_get_x_s16(&mainboard.pos);
        y = position_get_y_s16(&mainboard.pos);
 
-       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+       if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
                return 0;
 
        if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
@@ -384,7 +417,7 @@ static uint8_t eject_select_speed(void)
                return 0; /* fast */
        }
 
-       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+       if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0) {
                DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
                      __FUNCTION__, x, y);
                return 1; /* slow */
@@ -566,7 +599,7 @@ uint8_t get_opp_oranges(void)
        x = position_get_x_s16(&mainboard.pos);
        y = position_get_y_s16(&mainboard.pos);
 
-       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+       if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
                return END_ERROR;
 
        /* not on eject point */
@@ -623,7 +656,7 @@ uint8_t get_orphan_tomatoes(void)
        x = position_get_x_s16(&mainboard.pos);
        y = position_get_y_s16(&mainboard.pos);
 
-       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+       if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
                return END_ERROR;
 
        /* not on eject point */