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authorNicolas Schodet2011-05-29 19:19:28 +0200
committerNicolas Schodet2011-05-30 01:12:06 +0200
commit5c8d716b96d32609d18af5219c541201209e586d (patch)
tree8dd54149d201b451d7926c293b1087a6489c8e98 /digital/io-hub/src/robospierre/pawn_sensor.c
parent2700442e8ecb331844687e349f5b20162a008b27 (diff)
digital/io-hub: handle element detection on table
Diffstat (limited to 'digital/io-hub/src/robospierre/pawn_sensor.c')
-rw-r--r--digital/io-hub/src/robospierre/pawn_sensor.c113
1 files changed, 113 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/pawn_sensor.c b/digital/io-hub/src/robospierre/pawn_sensor.c
new file mode 100644
index 00000000..65f0afe4
--- /dev/null
+++ b/digital/io-hub/src/robospierre/pawn_sensor.c
@@ -0,0 +1,113 @@
+/* pawn_sensor.c */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * 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.
+ *
+ * }}} */
+#include "common.h"
+#include "pawn_sensor.h"
+
+#include "asserv.h"
+#include "contact.h"
+#include "logistic.h"
+#include "element.h"
+#include "clamp.h"
+#include "bot.h"
+
+#include "modules/math/geometry/distance.h"
+
+/* Handle pawn sensors. When a pawn is detected, it can not be taken
+ * directly, but only once it is inside the robot. */
+
+/** Pawn sensor context. */
+struct pawn_sensor_t
+{
+ /** Is there something in front of the sensor? */
+ uint8_t active;
+ /** If active, supposed position of element. */
+ vect_t active_position;
+};
+
+/** Global contexts. */
+struct pawn_sensor_t pawn_sensor_front, pawn_sensor_back;
+
+static uint8_t
+pawn_sensor_get_type (uint8_t direction)
+{
+ uint8_t element_type = contact_get_color () ? ELEMENT_PAWN : ELEMENT_KING;
+ return element_type;
+}
+
+uint8_t
+pawn_sensor_get (uint8_t direction)
+{
+ struct pawn_sensor_t *ctx;
+ uint8_t contact_value, slot;
+ int16_t dist;
+ /* Check direction. */
+ if (direction == DIRECTION_FORWARD)
+ {
+ ctx = &pawn_sensor_front;
+ contact_value = !IO_GET (CONTACT_FRONT_BOTTOM);
+ slot = CLAMP_SLOT_FRONT_BOTTOM;
+ dist = BOT_PAWN_FRONT_DETECTION_THRESHOLD_MM;
+ }
+ else
+ {
+ ctx = &pawn_sensor_back;
+ contact_value = !IO_GET (CONTACT_BACK_BOTTOM);
+ slot = CLAMP_SLOT_BACK_BOTTOM;
+ dist = BOT_PAWN_BACK_DETECTION_THRESHOLD_MM;
+ }
+ /* Handle contact. */
+ if (contact_value)
+ {
+ if (!logistic_global.slots[slot]
+ && logistic_global.moving_to != slot)
+ {
+ position_t robot_position;
+ asserv_get_position (&robot_position);
+ if (ctx->active)
+ {
+ int32_t d = distance_point_point (&ctx->active_position,
+ &robot_position.v);
+ if (d < BOT_PAWN_TAKING_DISTANCE_MM)
+ {
+ ctx->active = 0;
+ return pawn_sensor_get_type (direction);
+ }
+ }
+ else
+ {
+ ctx->active = 1;
+ vect_from_polar_uf016 (&ctx->active_position, dist,
+ robot_position.a);
+ vect_translate (&ctx->active_position, &robot_position.v);
+ }
+ }
+ }
+ else
+ {
+ ctx->active = 0;
+ }
+ return 0;
+}
+