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/* traj.c - Trajectories. */
/* asserv - Position & speed motor control on AVR. {{{
 *
 * Copyright (C) 2006 Nicolas Schodet
 *
 * Robot APB Team/Efrei 2005.
 *        Web: http://assos.efrei.fr/robot/
 *      Email: robot AT efrei DOT fr
 *
 * 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.
 *
 * }}} */

/** Traj mode:
 * 10, 11, 12 and 13: find a hole.
 * 20, 21: we fuck the wall.
 */
uint8_t traj_mode;

/** Holes filter. */
uint8_t traj_holes_filter;

/** Holes ok filter. */
uint8_t traj_holes_ok;

/* Find a hole in the table.
 * French: On avance, et si on voit un "pas vert" � gauche, on tourne �
 * gauche. Pareil pour la droite. Au final, on centre le "pas vert" entre deux
 * capteurs, c'est le trou. Il y a aussi les capteurs � l'avant et � l'arri�re.
 * Le robot commence par avancer � vive allure jusqu'� avoir tous les capteurs
 * verts (afin de ne pas trouver le trou sur lequel on comence). Puis il
 * continue jusqu'� trouver un trou avec l'un des capteurs, puis il ralenti et
 * passe dans le mode ou il avance s'il voit du "pas vert" � l'avant et il
 * recule s'il voit du "pas-vert" � l'arri�re. Enfin, il s'arr�te.
 */
static void
traj_holes (void)
{
    int16_t speed;
    uint8_t in;
    speed_pos = 0;
    in = PINF;
    /* Change state if needed. */
    if (traj_mode == 10)
      {
	/* Cruise mode until not over a hole. */
	if ((in & 0xf) == 0)
	    traj_holes_filter++;
	else
	    traj_holes_filter = 0;
	if (traj_holes_filter >= 8)
	  {
	    traj_holes_filter = 0;
	    traj_mode = 11;
	  }
      }
    else if (traj_mode == 11)
      {
	/* Cruise mode until over a hole. */
	if (in & 0xf)
	    traj_holes_filter++;
	else
	    traj_holes_filter = 0;
	if (traj_holes_filter >= 8)
	  {
	    traj_holes_filter = 255;
	    traj_mode = 12;
	    traj_holes_ok = 0;
	  }
      }
    else if (traj_mode == 12)
      {
	/* Return to cruise mode if no hole for too long. */
	if (!(in & 0xf))
	    traj_holes_filter--;
	if (traj_holes_filter == 0)
	    traj_mode = 11;
      }
    /* Determine speed. */
    if (traj_mode <= 11)
      {
	/* Cruise mode. */
	speed = speed_theta_max;
	speed *= 256;
	speed_theta_cons = speed;
	speed_alpha_cons = 0;
      }
    else
      {
	speed = speed_theta_slow;
	speed *= 256;
	if ((in & 0xf) == 0xc || (in & 0x7) == 0x7)
	  {
	    traj_holes_ok++;
	    if (traj_holes_ok >= 32)
	      {
		/* Stop. */
		speed_theta_cons = 0;
		speed_alpha_cons = 0;
		main_sequence_finish = main_sequence;
		traj_mode = 13;
	      }
	  }
	else
	  {
	    if (in & 1)
	      {
		/* Left. */
		speed_theta_cons = 0;
		speed_alpha_cons = speed;
	      }
	    else if (in & 2)
	      {
		/* Right. */
		speed_theta_cons = 0;
		speed_alpha_cons = -speed;
	      }
	    else if (in & 8)
	      {
		/* Back. */
		speed_theta_cons = -speed;
		speed_alpha_cons = 0;
	      }
	    else
	      {
		/* Front. */
		speed_theta_cons = speed;
		speed_alpha_cons = 0;
	      }
	  }
      }
}

/** We fuck the wall mode. */
void
traj_ftw (void)
{
    int16_t speed;
    speed = speed_theta_slow;
    speed *= 256;
    if (PINA & _BV (0) && PINA & _BV (7))
      {
	speed_theta_cons = -speed;
	speed_alpha_cons = 0;
      }
    else if (PINA & _BV (0))
      {
	speed_theta_cons = -speed / 2;
	speed_alpha_cons = speed / 2;
      }
    else if (PINA & _BV (7))
      {
	speed_theta_cons = -speed / 2;
	speed_alpha_cons = -speed / 2;
      }
    else
      {
	speed_theta_cons = 0;
	speed_alpha_cons = 0;
	speed_theta_cur = 0;
	speed_alpha_cur = 0;
	main_sequence_finish = main_sequence;
	traj_mode = 21;
      }
}

/* Compute new speed according the defined trajectory. */
static void
traj_update (void)
{
    switch (traj_mode)
      {
      case 10:
      case 11:
      case 12:
	traj_holes ();
      case 13:
	break;
      case 20:
	traj_ftw ();
      case 21:
	break;
      }
}