/* 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 "playground.h" #include "codebar.h" #include "modules/utils/utils.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 = codebar_get (direction); if (!element_type) element_type = ELEMENT_PAWN; 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) { /* In green zone, take it when near enougth from the wall. */ if (robot_position.v.x < BOT_GREEN_ELEMENT_DISTANCE_MM + 10 || (robot_position.v.x > PG_WIDTH - BOT_GREEN_ELEMENT_DISTANCE_MM - 10)) { ctx->active = 0; return pawn_sensor_get_type (direction); } /* Else, take it if near enough from the supposed element * position. */ 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 if (d > UTILS_ABS (dist)) { vect_from_polar_uf016 (&ctx->active_position, dist, robot_position.a); vect_translate (&ctx->active_position, &robot_position.v); } } 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; }