--- /dev/null
+/*
+ * Copyright Droids, Microb Technology (2008)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: strat_lintel.c,v 1.5 2009-11-08 17:24:33 zer0 Exp $
+ *
+ * Olivier MATZ <zer0@droids-corp.org>
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <aversive/pgmspace.h>
+#include <aversive/queue.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <ax12.h>
+#include <uart.h>
+#include <pwm_ng.h>
+#include <time.h>
+#include <spi.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+#include <parse.h>
+
+#include "../common/i2c_commands.h"
+#include "main.h"
+#include "strat.h"
+#include "strat_base.h"
+#include "strat_avoid.h"
+#include "strat_utils.h"
+#include "sensor.h"
+#include "i2c_protocol.h"
+
+#define ERROUT(e) do { \
+ err = e; \
+ goto end; \
+ } while(0)
+
+#define X_PRE_MARGIN 20
+#define X_POST_MARGIN 10
+
+/*
+ * goto lintel disp. Return END_TRAJ if success or if there is nothing
+ * to do. Return END_ERROR if dest cannot be reached, else, it may
+ * return END_OBSTACLE or END_BLOCKING.
+ */
+uint8_t strat_goto_lintel_disp(struct lintel_dispenser *disp)
+{
+ uint8_t err, first_try = 1, right_ok, left_ok;
+ uint16_t old_spdd, old_spda;
+ int16_t left_cur, right_cur, a;
+
+ if (disp->count == 0)
+ return END_ERROR;
+
+ if (get_lintel_count() == 2)
+ return END_ERROR;
+
+ if (disp->last_try_time >= time_get_s())
+ return END_ERROR;
+
+ disp->last_try_time = time_get_s();
+
+ strat_get_speed(&old_spdd, &old_spda);
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
+ DEBUG(E_USER_STRAT, "%s(): goto %s", __FUNCTION__, disp->name);
+ i2c_mechboard_mode_prepare_pickup(I2C_AUTO_SIDE);
+
+ err = goto_and_avoid_backward(disp->x, COLOR_Y(400),
+ TRAJ_FLAGS_STD, TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ ERROUT(err);
+
+ trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ if (!TRAJ_SUCCESS(err))
+ ERROUT(err);
+
+ if (time_get_s() > 86) {
+ DEBUG(E_USER_STRAT, "%s() too late...", __FUNCTION__);
+ return END_TIMER;
+ }
+
+ i2c_mechboard_mode_prepare_get_lintel();
+ retry:
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
+ err = strat_calib(500, TRAJ_FLAGS_SMALL_DIST);
+ if (err == END_BLOCKING) {
+ a = position_get_a_deg_s16(&mainboard.pos);
+ /* only reset pos if angle is not too different */
+ if (ABS(a - COLOR_A(-90)) < 5)
+ strat_reset_pos(DO_NOT_SET_POS,
+ COLOR_Y(ROBOT_LENGTH/2),
+ COLOR_A(-90));
+ }
+ else if (!TRAJ_SUCCESS(err))
+ ERROUT(err);
+
+ i2c_mechboard_mode_get_lintel();
+ time_wait_ms(500);
+
+ left_cur = sensor_get_adc(ADC_CSENSE3);
+ left_ok = (left_cur > I2C_MECHBOARD_CURRENT_COLUMN);
+ right_cur = mechboard.pump_right1_current;
+ right_ok = (right_cur > I2C_MECHBOARD_CURRENT_COLUMN);
+
+ DEBUG(E_USER_STRAT, "%s left_ok=%d (%d), right_ok=%d (%d)", __FUNCTION__,
+ left_ok, left_cur, right_ok, right_cur);
+ if (first_try) {
+ if (!right_ok && !left_ok) {
+ i2c_mechboard_mode_prepare_get_lintel();
+ time_wait_ms(300);
+ }
+ /* XXX recalib x ? */
+ else if (right_ok && !left_ok) {
+ i2c_mechboard_mode_prepare_get_lintel();
+ time_wait_ms(300);
+ strat_set_speed(500, 500);
+ trajectory_d_a_rel(&mainboard.traj, -200, 30);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ trajectory_d_a_rel(&mainboard.traj, 190, -30);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ first_try = 0;
+ goto retry;
+ }
+ else if (!right_ok && left_ok) {
+ i2c_mechboard_mode_prepare_get_lintel();
+ time_wait_ms(300);
+ strat_set_speed(500, 500);
+ trajectory_d_a_rel(&mainboard.traj, -200, -30);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ trajectory_d_a_rel(&mainboard.traj, 190, 30);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ first_try = 0;
+ goto retry;
+ }
+ /* else, lintel is ok */
+ else {
+ strat_infos.taken_lintel ++;
+ i2c_mechboard_mode_put_lintel();
+ }
+ }
+ else {
+ if (right_ok && left_ok) {
+ /* lintel is ok */
+ strat_infos.taken_lintel ++;
+ i2c_mechboard_mode_put_lintel();
+ }
+ else {
+ i2c_mechboard_mode_prepare_get_lintel();
+ time_wait_ms(300);
+ }
+ }
+ disp->count--;
+
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+ trajectory_d_rel(&mainboard.traj, -250);
+ err = wait_traj_end(TRAJ_FLAGS_STD);
+
+ ERROUT(err);
+
+end:
+ strat_set_speed(old_spdd, old_spda);
+ return err;
+}
+
+/* go pickup lintels on dispensers. Return END_TRAJ on success or if
+
+ * there is nothing to do, else return the error status. */
+uint8_t strat_pickup_lintels(void)
+{
+ uint8_t err;
+
+ if (get_column_count() != 0)
+ return END_ERROR;
+
+ if (strat_infos.l1.count == 0 && strat_infos.l2.count == 0)
+ return END_TRAJ;
+
+ /* skip if it's too early */
+ if (time_get_s() < strat_infos.conf.lintel_min_time)
+ return END_TRAJ;
+
+ /* skip next lintel if we want only one */
+ if (strat_infos.conf.flags & STRAT_CONF_TAKE_ONE_LINTEL) {
+ if (strat_infos.taken_lintel)
+ return END_TRAJ;
+ }
+
+ /* don't take lintel now if we already have one and if there
+ * is not much time */
+ if (get_lintel_count() && time_get_s() > 75)
+ return END_TRAJ;
+
+ /* take lintel 1 */
+ err = strat_goto_lintel_disp(&strat_infos.l1);
+ if (!TRAJ_SUCCESS(err) && err != END_ERROR)
+ return err;
+
+ /* skip next lintel if we want only one */
+ if (strat_infos.conf.flags & STRAT_CONF_TAKE_ONE_LINTEL) {
+ if (strat_infos.taken_lintel)
+ return END_TRAJ;
+ }
+
+ /* don't take lintel now if we already have one and if there
+ * is not much time */
+ if (get_lintel_count() && time_get_s() > 75)
+ return END_TRAJ;
+
+ /* take lintel 2 */
+ err = strat_goto_lintel_disp(&strat_infos.l2);
+ if (!TRAJ_SUCCESS(err) && err != END_ERROR)
+ return err;
+
+ return END_TRAJ;
+}
git.droids-corp.org / aversive.git / blobdiff