--- /dev/null
+/*
+ * Copyright Droids Corporation, Microb Technology (2009)
+ *
+ * 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_base.c,v 1.6 2009-05-02 10:08:09 zer0 Exp $
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <uart.h>
+#include <pwm_ng.h>
+#include <time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+#include <parse.h>
+
+#include "main.h"
+#include "cmdline.h"
+#include "strat_base.h"
+#include "sensor.h"
+
+/* true if we want to interrupt a trajectory */
+static uint8_t traj_intr=0;
+
+/* filled when a END_OBSTACLE is returned */
+struct opponent_obstacle opponent_obstacle;
+
+/* asked speed */
+static volatile int16_t strat_speed_a = SPEED_DIST_FAST;
+static volatile int16_t strat_speed_d = SPEED_ANGLE_FAST;
+static volatile uint16_t strat_limit_speed_a = 0; /* no limit */
+static volatile uint16_t strat_limit_speed_d = 0;
+
+static volatile uint8_t strat_limit_speed_enabled = 1;
+
+
+/* Strings that match the end traj cause */
+/* /!\ keep it sync with stat_base.h */
+const char *err_tab []= {
+ "END_TRAJ",
+ "END_BLOCKING",
+ "END_NEAR",
+ "END_OBSTACLE",
+ "END_ERROR",
+ "END_INTR",
+ "END_TIMER",
+ "END_RESERVED",
+};
+
+/* return string from end traj type num */
+const char *get_err(uint8_t err)
+{
+ uint8_t i;
+ if (err == 0)
+ return "SUCCESS";
+ for (i=0 ; i<8; i++) {
+ if (err & (1 <<i))
+ return err_tab[i];
+ }
+ return "END_UNKNOWN";
+}
+
+void strat_hardstop(void)
+{
+ trajectory_hardstop(&mainboard.traj);
+ pid_reset(&mainboard.angle.pid);
+ pid_reset(&mainboard.distance.pid);
+ bd_reset(&mainboard.angle.bd);
+ bd_reset(&mainboard.distance.bd);
+
+ while ((ABS(mainboard.speed_d) > 200) ||
+ (ABS(mainboard.speed_a) > 200))
+
+ trajectory_hardstop(&mainboard.traj);
+ pid_reset(&mainboard.angle.pid);
+ pid_reset(&mainboard.distance.pid);
+ bd_reset(&mainboard.angle.bd);
+ bd_reset(&mainboard.distance.bd);
+}
+
+/* reset position */
+void strat_reset_pos(int16_t x, int16_t y, int16_t a)
+{
+ int16_t posx = position_get_x_s16(&mainboard.pos);
+ int16_t posy = position_get_y_s16(&mainboard.pos);
+ int16_t posa = position_get_a_deg_s16(&mainboard.pos);
+
+ if (x == DO_NOT_SET_POS)
+ x = posx;
+ if (y == DO_NOT_SET_POS)
+ y = posy;
+ if (a == DO_NOT_SET_POS)
+ a = posa;
+
+ DEBUG(E_USER_STRAT, "reset pos (%s%s%s)",
+ x == DO_NOT_SET_POS ? "" : "x",
+ y == DO_NOT_SET_POS ? "" : "y",
+ a == DO_NOT_SET_POS ? "" : "a");
+ position_set(&mainboard.pos, x, y, a);
+ DEBUG(E_USER_STRAT, "pos resetted", __FUNCTION__);
+}
+
+/*
+ * decrease gain on angle PID, and go forward until we reach the
+ * border.
+ */
+uint8_t strat_calib(int16_t dist, uint8_t flags)
+{
+ int32_t p = pid_get_gain_P(&mainboard.angle.pid);
+ int32_t i = pid_get_gain_I(&mainboard.angle.pid);
+ int32_t d = pid_get_gain_D(&mainboard.angle.pid);
+ uint8_t err;
+
+ pid_set_gains(&mainboard.angle.pid, 150, 0, 2000);
+ trajectory_d_rel(&mainboard.traj, dist);
+ err = wait_traj_end(flags);
+ pid_set_gains(&mainboard.angle.pid, p, i, d);
+ return err;
+}
+
+static void strat_update_traj_speed(void)
+{
+ uint16_t d, a;
+
+ d = strat_speed_d;
+ if (strat_limit_speed_d && d > strat_limit_speed_d)
+ d = strat_limit_speed_d;
+ a = strat_speed_a;
+ if (strat_limit_speed_a && a > strat_limit_speed_a)
+ a = strat_limit_speed_a;
+
+ trajectory_set_speed(&mainboard.traj, d, a);
+}
+
+void strat_set_speed(uint16_t d, uint16_t a)
+{
+ uint8_t flags;
+ IRQ_LOCK(flags);
+ strat_speed_d = d;
+ strat_speed_a = a;
+ strat_update_traj_speed();
+ IRQ_UNLOCK(flags);
+}
+
+void strat_get_speed(uint16_t *d, uint16_t *a)
+{
+ uint8_t flags;
+ IRQ_LOCK(flags);
+ *d = strat_speed_d;
+ *a = strat_speed_a;
+ IRQ_UNLOCK(flags);
+}
+
+
+void interrupt_traj(void)
+{
+ traj_intr = 1;
+}
+
+void interrupt_traj_reset(void)
+{
+ traj_intr = 0;
+}
+
+uint8_t test_traj_end(uint8_t why)
+{
+ uint16_t cur_timer;
+/* point_t robot_pt; */
+
+/* robot_pt.x = position_get_x_s16(&mainboard.pos); */
+/* robot_pt.y = position_get_y_s16(&mainboard.pos); */
+
+ /* trigger an event at 3 sec before the end of the match if we
+ * have balls in the barrel */
+ cur_timer = time_get_s();
+
+ if ((mainboard.flags & DO_TIMER) && (why & END_TIMER)) {
+ /* end of match */
+ if (cur_timer >= MATCH_TIME)
+ return END_TIMER;
+ }
+
+ if ((why & END_INTR) && traj_intr) {
+ interrupt_traj_reset();
+ return END_INTR;
+ }
+
+ if ((why & END_TRAJ) && trajectory_finished(&mainboard.traj))
+ return END_TRAJ;
+
+ /* we are near the destination point (depends on current
+ * speed) AND the robot is in the area bounding box. */
+ if (why & END_NEAR) {
+ int16_t d_near = 100;
+
+ if (mainboard.speed_d > 2000)
+ d_near = 150;
+
+/* if (trajectory_in_window(&mainboard.traj, d_near, RAD(5.0)) && */
+/* is_in_boundingbox(&robot_pt)) */
+/* return END_NEAR; */
+ }
+
+ if ((why & END_BLOCKING) && bd_get(&mainboard.angle.bd)) {
+ strat_hardstop();
+ return END_BLOCKING;
+ }
+
+ if ((why & END_BLOCKING) && bd_get(&mainboard.distance.bd)) {
+ strat_hardstop();
+ return END_BLOCKING;
+ }
+
+/* if ((why & END_OBSTACLE) && strat_obstacle()) { */
+/* strat_hardstop(); */
+/* return END_OBSTACLE; */
+/* } */
+
+ return 0;
+}
+
+uint8_t __wait_traj_end_debug(uint8_t why, uint16_t line)
+{
+ uint8_t ret = 0;
+/* int16_t opp_x, opp_y, opp_d, opp_a; */
+
+ while (ret == 0)
+ ret = test_traj_end(why);
+
+/* if (ret == END_OBSTACLE) { */
+/* if (get_opponent_xyda(&opp_x, &opp_y, */
+/* &opp_d, &opp_a) == 0) */
+/* DEBUG(E_USER_STRAT, "Got %s at line %d" */
+/* " xy=(%d,%d) da=(%d,%d)", get_err(ret), */
+/* line, opp_x, opp_y, opp_d, opp_a); */
+/* } */
+/* else { */
+/* DEBUG(E_USER_STRAT, "Got %s at line %d", */
+/* get_err(ret), line); */
+/* } */
+ return ret;
+}
git.droids-corp.org / aversive.git / blobdiff