trajectory optimizations

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

diff --git a/projects/microb2010/mainboard/strat_avoid.c b/projects/microb2010/mainboard/strat_avoid.c
index cd54e6c..ff5dac3 100644 (file)
--- a/projects/microb2010/mainboard/strat_avoid.c
+++ b/projects/microb2010/mainboard/strat_avoid.c
@@ -262,7 +262,7 @@ int8_t get_path(const struct wp_coord *circuit,
        int8_t skipfirst=0;
        int8_t path_len = 0;
 
-       printf("face: %d\n", faceA);
+       printf_P(PSTR("face: %d\r\n"), faceA);
        if ( !faceA && circuit->i == 11 && circuit->j == 6)
                skipfirst=1;
 
@@ -341,7 +341,7 @@ int16_t get_score(uint32_t wcorn_retrieved, uint32_t ucorn_retrieved,
                mask <<= 1UL;
        }
 
-       printf("get score: cob %d \n", n);
+       printf_P(PSTR("get score: cob %d \r\n"), n);
        /* score with tomato */
        n = xget_ball_count();
        mask = 1;
@@ -355,7 +355,7 @@ int16_t get_score(uint32_t wcorn_retrieved, uint32_t ucorn_retrieved,
                mask <<= 1UL;
        }
 
-       printf("get score: ball %d \n", n);
+       printf_P(PSTR("get score: ball %d \r\n"), n);
        /* malus for long circuits */
        score -= (len * 20);
 
@@ -481,7 +481,7 @@ static void dump_circuit_wp(struct wp_line *circuit_wpline, int8_t len)
        if (len <= 0)
                return;
        for (i = 0; i < len; i ++) {
-               printf(PSTR("linenum %d dir %d\r\n"), circuit_wpline[i].line_num,
+               printf_P(PSTR("linenum %d dir %d\r\n"), circuit_wpline[i].line_num,
                       circuit_wpline[i].dir);
        }
 
@@ -547,6 +547,7 @@ uint8_t strat_harvest_circuit(void)
 
 void test_strat_avoid(void)
 {
+#if 0
        uint8_t i, j;
        const struct wp_coord *selected_circuit;
        int8_t selected_face;
@@ -554,84 +555,84 @@ void test_strat_avoid(void)
        int8_t ret;
 
        i = 1; j = 1;
-       printf("========= i=%d, j=%d\r\n", i, j);
+       printf_P(PSTR("========= i=%d, j=%d\r\n"), i, j);
 
        ts = 0; bc = 0; cc = 0;
-       printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
+       printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
        browse_circuits(i, j, &selected_circuit, &selected_face);
        ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
        dump_circuit_wp(circuit_wpline, ret);
 
        ts = 0; bc = 3; cc = 0;
-       printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
+       printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
        browse_circuits(i, j, &selected_circuit, &selected_face);
        ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
        dump_circuit_wp(circuit_wpline, ret);
 
        ts = 0; bc = 4; cc = 0;
-       printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
+       printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
        browse_circuits(i, j, &selected_circuit, &selected_face);
        ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
        dump_circuit_wp(circuit_wpline, ret);
 
        ts = 0; bc = 3; cc = 5;
-       printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
+       printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
        browse_circuits(i, j, &selected_circuit, &selected_face);
        ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
        dump_circuit_wp(circuit_wpline, ret);
 
        ts = 0; bc = 4; cc = 5;
-       printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
+       printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
        browse_circuits(i, j, &selected_circuit, &selected_face);
        ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
        dump_circuit_wp(circuit_wpline, ret);
 
        ts = 80; bc = 0; cc = 0;
-       printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
+       printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
        browse_circuits(i, j, &selected_circuit, &selected_face);
        ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
        dump_circuit_wp(circuit_wpline, ret);
 
        i = 4; j = 3;
-       printf("========= i=%d, j=%d\r\n", i, j);
+       printf_P(PSTR("========= i=%d, j=%d\r\n"), i, j);
 
        ts = 0; bc = 0; cc = 0;
-       printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
+       printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
        browse_circuits(i, j, &selected_circuit, &selected_face);
        ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
        dump_circuit_wp(circuit_wpline, ret);
 
        ts = 0; bc = 3; cc = 0;
-       printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
+       printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
        browse_circuits(i, j, &selected_circuit, &selected_face);
        ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
        dump_circuit_wp(circuit_wpline, ret);
 
        ts = 80; bc = 0; cc = 0;
-       printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
+       printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
        browse_circuits(i, j, &selected_circuit, &selected_face);
        ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
        dump_circuit_wp(circuit_wpline, ret);
 
        i = 11; j = 6;
-       printf("========= i=%d, j=%d\r\n", i, j);
+       printf_P(PSTR("========= i=%d, j=%d\r\n"), i, j);
 
        ts = 0; bc = 0; cc = 0;
-       printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
+       printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
        browse_circuits(i, j, &selected_circuit, &selected_face);
        ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
        dump_circuit_wp(circuit_wpline, ret);
 
        ts = 0; bc = 3; cc = 0;
-       printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
+       printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
        browse_circuits(i, j, &selected_circuit, &selected_face);
        ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
        dump_circuit_wp(circuit_wpline, ret);
 
        ts = 80; bc = 0; cc = 0;
-       printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
+       printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
        browse_circuits(i, j, &selected_circuit, &selected_face);
        ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
        dump_circuit_wp(circuit_wpline, ret);
-
+#endif
 }