/*
* must be called from start area.
* get 4 static columns and build a temple on the disc
*/
uint8_t strat_static_columns(uint8_t configuration)
{
uint8_t err;
uint8_t col1_present = 0, col4_present = 0;
uint16_t old_spdd, old_spda;
DEBUG(E_USER_STRAT, "%s(%d)", __FUNCTION__, configuration);
strat_get_speed(&old_spdd, &old_spda);
/* calibrate scanner */
i2c_sensorboard_scanner_calib();
i2c_mechboard_mode_harvest();
/* go straight. total distance is less than 5 meters */
strat_set_speed(1000, 1000);
trajectory_d_rel(&mainboard.traj, BIG_DIST);
/* when y > 50, break */
err = WAIT_COND_OR_TRAJ_END(y_is_more_than(500), TRAJ_FLAGS_STD);
if (TRAJ_SUCCESS(err)) /* we should not reach end */
ERROUT(END_ERROR);
else if (err)
ERROUT(err);
/* turn to 90° abs while going forward */
DEBUG(E_USER_STRAT, "turn now");
strat_set_speed(1000, 350);
trajectory_only_a_abs(&mainboard.traj, COLOR_A(90));
/* when y > 100, check the presence of column 4 */
err = WAIT_COND_OR_TRAJ_END(y_is_more_than(1000), TRAJ_FLAGS_STD);
if (TRAJ_SUCCESS(err)) /* we should not reach end */
ERROUT(END_ERROR);
else if (err)
ERROUT(err);
if (get_color() == I2C_COLOR_RED && sensor_get(S_COLUMN_RIGHT))
col4_present = 1;
if (get_color() == I2C_COLOR_GREEN && sensor_get(S_COLUMN_LEFT))
col4_present = 1;
/* when y > 120, check the presence of column 1 */
err = WAIT_COND_OR_TRAJ_END(y_is_more_than(1200), TRAJ_FLAGS_STD);
if (TRAJ_SUCCESS(err)) /* we should not reach end */
ERROUT(END_ERROR);
else if (err)
ERROUT(err);
if (get_color() == I2C_COLOR_RED && sensor_get(S_COLUMN_RIGHT))
col1_present = 1;
if (get_color() == I2C_COLOR_GREEN && sensor_get(S_COLUMN_LEFT))
col1_present = 1;
/* when y > 130, break */
err = WAIT_COND_OR_TRAJ_END(y_is_more_than(1300), TRAJ_FLAGS_STD);
if (TRAJ_SUCCESS(err)) /* we should not reach end */
ERROUT(END_ERROR);
else if (err)
ERROUT(err);
strat_infos.s_cols.flags |= STATIC_COL_LINE0_DONE;
DEBUG(E_USER_STRAT, "col4=%d col1=%d", col4_present, col1_present);
DEBUG(E_USER_STRAT, "have %d cols", get_column_count());
if (configuration == 0) {
if (get_column_count() > 2) {
configuration = 1;
if (col4_present || col1_present) {
strat_infos.s_cols.flags |=
STATIC_COL_LINE2_DONE;
}
else {
strat_infos.s_cols.flags |=
STATIC_COL_LINE1_DONE;
}
}
/* only 2 colums on the first line */
else {
/* all other colums are on line 1 */
if (col4_present && col1_present) {
configuration = 2;
strat_infos.s_cols.flags |=
STATIC_COL_LINE2_DONE;
}
/* only 2 columns on line 1, so there are also
* 2 on line 2 */
else if (col4_present || col1_present) {
configuration = 4;
strat_infos.s_cols.flags |=
STATIC_COL_LINE2_DONE;
}
/* all other columns are on line 2 */
else {
configuration = 3;
strat_infos.s_cols.flags |=
STATIC_COL_LINE1_DONE;
}
}
}
strat_infos.s_cols.configuration = configuration;
DEBUG(E_USER_STRAT, "use configuration %d", configuration);
if (configuration == 1) {
/* we already got 4 columns, go to the disc directly */
strat_set_speed(1500, 900);
trajectory_only_a_abs(&mainboard.traj, COLOR_A(0));
err = WAIT_COND_OR_TRAJ_END(x_is_more_than(1100), TRAJ_FLAGS_STD);
if (TRAJ_SUCCESS(err)) /* we should not reach end */
ERROUT(END_ERROR);
else if (err)
ERROUT(err);
}
else if (configuration == 2 /* go from line 0 to line 1 */) {
strat_set_speed(800, 1000);
/* relative is needed here */
trajectory_only_a_rel(&mainboard.traj, COLOR_A(-180));
err = WAIT_COND_OR_TRAJ_END(!y_is_more_than(1300), TRAJ_FLAGS_STD);
if (TRAJ_SUCCESS(err)) /* we should not reach end */
ERROUT(END_ERROR);
else if (err)
ERROUT(err);
strat_set_speed(1000, 600);
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);
}
else if (configuration == 3 /* go from line 0 to line 2 and there is 4 columns
on line 2*/) {
strat_set_speed(1000, 600);
/* relative is needed here */
trajectory_only_a_rel(&mainboard.traj, COLOR_A(-180));
err = WAIT_COND_OR_TRAJ_END(!y_is_more_than(1110), TRAJ_FLAGS_STD);
if (TRAJ_SUCCESS(err)) /* we should not reach end */
ERROUT(END_ERROR);
else if (err)
ERROUT(err);
}
else if (configuration == 4 /* go from line 0 to line 2 and there is 2 columns
on line 2 */) {
strat_set_speed(1000, 600);
/* relative is needed here */
trajectory_only_a_rel(&mainboard.traj, COLOR_A(-180));
err = WAIT_COND_OR_TRAJ_END(!y_is_more_than(600), TRAJ_FLAGS_STD);
if (TRAJ_SUCCESS(err)) /* we should not reach end */
ERROUT(END_ERROR);
else if (err)
ERROUT(err);
}
else {
trajectory_stop(&mainboard.traj);
}
ERROUT(END_TRAJ);
end:
strat_set_speed(old_spdd, old_spda);
return err;
}
int test_traj_end(int why)
{
if((why & END_TRAJ) && trajectory_finished(&robot.traj))
return END_TRAJ;
if (why & END_NEAR) {
int16_t d_near = 100; /* mm */
/* XXX Change distance depending on speed. */
if (trajectory_in_window(&robot.traj, d_near, RAD(5.0)))
return END_NEAR;
}
if((why & END_OBSTACLE)) {
int i;
for(i=0;i<robot.beacon.nb_beacon;i++) {
if(robot.beacon.beacon[i].distance > 80) { /*cm*/
if(robot.distance_qr.previous_var > 0) {
/* Going forward. */
if(robot.beacon.beacon[i].direction > -30 && robot.beacon.beacon[i].direction < 30) {
trajectory_stop(&robot.traj);
while(robot.distance_qr.previous_var > 0);
trajectory_hardstop(&robot.traj);
bd_reset(&robot.distance_bd);
return END_OBSTACLE;
}
} else if(robot.distance_qr.previous_var < 0) {
/* Going backward */
if(robot.beacon.beacon[i].direction < -30 || robot.beacon.beacon[i].direction > 30) {
trajectory_stop(&robot.traj);
while(robot.distance_qr.previous_var < 0);
trajectory_hardstop(&robot.traj);
bd_reset(&robot.distance_bd);
return END_OBSTACLE;
}
}
}
}
}
if((why & END_BLOCKING) && bd_get(&robot.distance_bd)) {
trajectory_hardstop(&robot.traj);
bd_reset(&robot.distance_bd);
bd_reset(&robot.angle_bd);
return END_BLOCKING;
}
if((why & END_BLOCKING) && bd_get(&robot.angle_bd)) {
trajectory_hardstop(&robot.traj);
bd_reset(&robot.distance_bd);
bd_reset(&robot.angle_bd);
return END_BLOCKING;
}
if((why & END_TIMER) && strat_get_time() >= MATCH_TIME) {
trajectory_hardstop(&robot.traj);
return END_TIMER;
}
return 0;
}
