void strat_autopos(int16_t x, int16_t y, int16_t a, int16_t epaisseurRobot)
{
robot.is_aligning = 1;
// Pour se recaler, on met le robot en regulation angulaire, on reduit la vitesse et l'acceleration
// On diminue la sensibilite on augmente la constante de temps de detection du bloquage
bd_set_thresholds(&robot.distance_bd, 5000, 2);
trajectory_set_speed(&robot.traj, 100, 100);
robot.mode = BOARD_MODE_DISTANCE_ONLY;
// On recule jusqu'a� qu'on ait touche un mur
trajectory_d_rel(&robot.traj, (double) -2000);
wait_traj_end(END_BLOCKING);
trajectory_hardstop(&robot.traj);
bd_reset(&robot.distance_bd);
bd_reset(&robot.angle_bd);
robot.mode = BOARD_MODE_ANGLE_DISTANCE;
position_set(&robot.pos, epaisseurRobot, 0, COLOR_A(0.));
/* On se mets a la bonne position en x. */
trajectory_d_rel(&robot.traj, 80);
wait_traj_end(END_TRAJ);
/* On se tourne face a la paroi en Y. */
trajectory_only_a_abs(&robot.traj, COLOR_A(90));
wait_traj_end(END_TRAJ);
/* On recule jusqu'a avoir touche le bord. */
trajectory_d_rel(&robot.traj, (double) -2000);
wait_traj_end(END_BLOCKING);
bd_reset(&robot.distance_bd);
bd_reset(&robot.angle_bd);
/* On reregle la position. */
robot.pos.pos_d.y = COLOR_Y(epaisseurRobot);
robot.pos.pos_s16.y = COLOR_Y(epaisseurRobot);
trajectory_d_rel(&robot.traj, 80);
wait_traj_end(END_TRAJ);
trajectory_goto_forward_xy_abs(&robot.traj, x, COLOR_Y(y));
wait_traj_end(END_TRAJ);
/* Pour finir on s'occuppe de l'angle. */
trajectory_a_abs(&robot.traj, COLOR_A((double)a));
wait_traj_end(END_TRAJ);
/* On remet le robot dans son etat initial. */
robot.mode = BOARD_MODE_ANGLE_DISTANCE;
robot.is_aligning = 0;
/* On se met en place a la position demandee. */
trajectory_set_speed(&robot.traj, speed_mm2imp(&robot.traj, 300), speed_rd2imp(&robot.traj, 2.5));
}
/*
* get last 2 columns
* must be called after the first temple building
*/
uint8_t strat_static_columns_pass2(void)
{
uint16_t old_spdd, old_spda;
uint8_t side, err, next_mode;
DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
strat_get_speed(&old_spdd, &old_spda);
if (get_color() == I2C_COLOR_RED)
side = I2C_RIGHT_SIDE;
else
side = I2C_LEFT_SIDE;
if (strat_infos.conf.flags & STRAT_CONF_STORE_STATIC2)
next_mode = I2C_MECHBOARD_MODE_STORE;
else
next_mode = I2C_MECHBOARD_MODE_HARVEST;
switch (strat_infos.s_cols.configuration) {
/* configuration 1: 4 cols on line 0 */
case 1:
if (strat_infos.s_cols.flags & STATIC_COL_LINE1_DONE) {
/* go on line 2 */
strat_set_speed(2000, 700);
trajectory_d_a_rel(&mainboard.traj, -450, COLOR_A(35));
err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err))
ERROUT(err);
i2c_mechboard_mode_prepare_pickup_next(side,
next_mode);
strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_FAST);
trajectory_goto_forward_xy_abs(&mainboard.traj,
LINE2_X,
COLOR_Y(400));
err = WAIT_COND_OR_TRAJ_END(get_column_count() == 2,
TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err))
ERROUT(err);
}
else {
/* go on line 1 */
strat_set_speed(2000, 700);
trajectory_d_a_rel(&mainboard.traj, -650, COLOR_A(55));
err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err))
ERROUT(err);
i2c_mechboard_mode_prepare_pickup_next(side,
next_mode);
strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_FAST);
err = goto_and_avoid_forward(LINE1_X,
COLOR_Y(400),
TRAJ_FLAGS_NO_NEAR,
TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err))
ERROUT(err);
}
ERROUT(END_TRAJ);
break;
/* configuration 2: 2 cols on line 0,
all other colums are on line 1 */
case 2:
/* go on line 1 */
strat_set_speed(2000, 700);
trajectory_d_a_rel(&mainboard.traj, -410, COLOR_A(-20));
err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err))
ERROUT(err);
i2c_mechboard_mode_prepare_pickup_next(side,
next_mode);
strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_FAST);
err = goto_and_avoid_forward(COL10_X, COLOR_Y(400),
TRAJ_FLAGS_NO_NEAR,
TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err))
ERROUT(err);
ERROUT(END_TRAJ);
break;
/* configuration 3: 2 cols on line 0,
all other colums are on line 2 */
case 3:
/* go on line 2 */
strat_set_speed(2000, 700);
trajectory_d_a_rel(&mainboard.traj, -150, COLOR_A(-30));
err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err))
ERROUT(err);
i2c_mechboard_mode_prepare_pickup_next(side,
next_mode);
strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_FAST);
trajectory_goto_forward_xy_abs(&mainboard.traj,
LINE2_X,
COLOR_Y(400));
err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err))
ERROUT(err);
ERROUT(END_TRAJ);
break;
/* configuration 4: 2 cols on line 0,
2 on line 1, 2 on line 2 */
case 4:
/* go on line 1 */
strat_set_speed(600, 2000);
trajectory_d_a_rel(&mainboard.traj, -BIG_DIST,
COLOR_A(-135));
err = WAIT_COND_OR_TRAJ_END(y_is_more_than(900),
TRAJ_FLAGS_STD);
if (TRAJ_SUCCESS(err)) /* we should not reach end */
ERROUT(END_ERROR);
else if (err)
ERROUT(err);
DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
i2c_mechboard_mode_prepare_pickup_next(side,
next_mode);
strat_set_speed(2000, 2000);
trajectory_d_rel(&mainboard.traj, -BIG_DIST);
err = WAIT_COND_OR_TRAJ_END(y_is_more_than(1100),
TRAJ_FLAGS_STD);
if (TRAJ_SUCCESS(err)) /* we should not reach end */
ERROUT(END_ERROR);
else if (err)
ERROUT(err);
DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
trajectory_d_a_rel(&mainboard.traj, -600, COLOR_A(40));
err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err))
ERROUT(err);
DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_FAST);
err = goto_and_avoid_forward(LINE1_X,
COLOR_Y(400),
TRAJ_FLAGS_NO_NEAR,
TRAJ_FLAGS_NO_NEAR);
ERROUT(END_TRAJ);
break;
default:
break;
}
/* should not reach this point */
ERROUT(END_ERROR);
end:
strat_set_speed(old_spdd, old_spda);
return err;
}
int strat_goto_avoid(int x, int y, int flags)
{
int i, len, ret;
int retry_count;
int opp_x, opp_y;
poly_t *pol_opp;
point_t *p;
oa_init();
/* The robot will try 3 times before giving up. */
for(retry_count=0;retry_count<3;retry_count++) {
/* Creates one polygon for each opponent robot. */
for(i=0;i<robot.beacon.nb_beacon;i++) {
pol_opp = oa_new_poly(4);
strat_da_rel_to_xy_abs(robot.beacon.beacon[i].direction, robot.beacon.beacon[i].distance*10,
&opp_x, &opp_y);
NOTICE(0, "Op is at %d;%d", opp_x, opp_y);
create_opp_polygon(pol_opp, 800, 0);
/* Checks if the arrival point is in an opponent. */
if(is_point_in_poly(pol_opp, x, y)) {
WARNING(0, "Destination point is in opponent.");
return END_ERROR;
}
}
/* Sets starting and ending point of the path. */
oa_start_end_points(position_get_x_s16(&robot.pos), position_get_x_s16(&robot.pos), x, y);
/* Computes the path */
len = oa_process();
/* Checks if a path was found. */
if(len == 0) {
WARNING(0, "Cannot find a suitable path.");
return END_ERROR;
}
p = oa_get_path();
/* For all the points in the path. */
for(i=0;i<len;i++) {
/* Goes to the point. */
trajectory_goto_forward_xy_abs(&robot.traj, p->x, p->y);
/* Waits for the completion of the trajectory. */
ret = wait_traj_end(flags);
/* If we were blocked or met an obstacle, we will retry. */
if(ret == END_BLOCKING || ret == END_OBSTACLE) {
WARNING(0, "Retry");
break; // we retry once more
} else if(!TRAJ_SUCCESS(ret)) {
/* If it was an other error, we simply abort and return it. */
WARNING(0, "Unknown error code : %d", ret);
return ret;
}
/* Increments pointer to load next point. */
p++;
}
/* If we reached last point, no need to retry. */
if(ret == END_TRAJ)
return END_TRAJ;
}
/* If we reach here, it means 3 try were not enough. */
return END_ERROR;
}
