/* top.c */ /* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ * * Copyright (C) 2009 Nicolas Haller * * 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. * * }}} */ #define ANGFSM_NAME AI #include "angfsm.h" #include "common.h" #include "defs.h" #include "top.h" #include "food.h" #include "asserv.h" #include "loader.h" #include "move.h" #include "chrono.h" #include "playground_2010.h" #include "bot.h" #include "modules/utils/utils.h" uint8_t top_food; /** Maximum elements to load before unloading. */ #define TOP_LOADER_MAX 3 /** Maximum elements to load before unloading when far from unload area. */ #define TOP_LOADER_MAX_FAR 4 /** Time to reserve for unloading at end of round. */ #define TOP_TIME_LIMIT_MS 20000ll void top_init (void) { } uint8_t top_collect (uint8_t force) { uint8_t loader_max; position_t robot_position; asserv_get_position (&robot_position); if (UTILS_ABS (PG_X (PG_WIDTH) - robot_position.v.x) < PG_WIDTH / 2) loader_max = TOP_LOADER_MAX; else loader_max = TOP_LOADER_MAX_FAR; if ((loader_elements < loader_max && (loader_elements == 0 || chrono_remaining_time () > TOP_TIME_LIMIT_MS)) || force) { top_food = food_best (robot_position); if (top_food == 0xff) return 0; vect_t food_v; food_pos (top_food, &food_v); /* If loaded an next ball is far away, go unload. */ if (loader_elements && UTILS_ABS (food_v.x - robot_position.v.x) > 1000) { asserv_set_speed (BOT_MOVE_FAST); move_start_noangle (PG_VECT (2625, 253), 0, 0); return 0; } asserv_set_speed (BOT_MOVE_MEDIUM); move_start_noangle (food_v, 0, food_shorten (top_food)); return 1; } else { asserv_set_speed (BOT_MOVE_FAST); move_start_noangle (PG_VECT (2625, 253), 0, 0); return 0; } } FSM_INIT FSM_STATES (IDLE, WAIT_INIT_TO_FINISH, FIRST_GO_BEGIN_OF_LINE_FAST, FIRST_GO_END_OF_LINE_FAST, FIRST_GO_END_OF_LINE_SLOW, UNLOAD, UNLOAD_LOADER_UP, UNLOAD_FACE_BIN, UNLOAD_FACE_BIN_UNBLOCK, UNLOAD_BACK_BIN, UNLOAD_UNLOAD, COLLECT, COLLECT_SLOW_MOTION, COLLECT_BLACK) FSM_EVENTS (start, move_fsm_succeed, move_fsm_failed, bot_move_succeed, bot_move_failed, init_match_is_started, in_field, asserv_last_cmd_ack, clamp_succeed) FSM_START_WITH (IDLE) /* Nothing to do. */ FSM_TRANS (IDLE, start, WAIT_INIT_TO_FINISH) { } /* * the match start * set fast speed * go to first sequence begin of line */ FSM_TRANS (WAIT_INIT_TO_FINISH, init_match_is_started, FIRST_GO_BEGIN_OF_LINE_FAST) { asserv_set_speed (BOT_MOVE_FAST); move_start_noangle (PG_VECT (375, 1503), 0, 0); } /* * go to end of line * loader down */ FSM_TRANS (FIRST_GO_BEGIN_OF_LINE_FAST, move_fsm_succeed, FIRST_GO_END_OF_LINE_FAST) { move_start_noangle (PG_VECT (2625, 253), 0, 0); loader_down (); } /* * set slow speed * retry */ FSM_TRANS (FIRST_GO_BEGIN_OF_LINE_FAST, move_fsm_failed, FIRST_GO_BEGIN_OF_LINE_FAST) { asserv_set_speed (BOT_MOVE_SLOW); move_start_noangle (PG_VECT (375, 1503), 0, 0); } /* * set slow speed */ FSM_TRANS (FIRST_GO_END_OF_LINE_FAST, in_field, FIRST_GO_END_OF_LINE_SLOW) { asserv_set_speed (BOT_MOVE_SLOW); } /* * set slow speed * move loader up */ FSM_TRANS (FIRST_GO_END_OF_LINE_FAST, move_fsm_succeed, UNLOAD_LOADER_UP) { asserv_set_speed (BOT_MOVE_SLOW); loader_up (); } /* * set slow speed * retry */ FSM_TRANS (FIRST_GO_END_OF_LINE_FAST, move_fsm_failed, FIRST_GO_END_OF_LINE_SLOW) { asserv_set_speed (BOT_MOVE_SLOW); move_start_noangle (PG_VECT (2625, 253), 0, 0); } /* * move loader up */ FSM_TRANS (FIRST_GO_END_OF_LINE_SLOW, move_fsm_succeed, UNLOAD_LOADER_UP) { loader_up (); } /* * retry */ FSM_TRANS (FIRST_GO_END_OF_LINE_SLOW, move_fsm_failed, FIRST_GO_END_OF_LINE_SLOW) { move_start_noangle (PG_VECT (2625, 253), 0, 0); } /* * move loader up */ FSM_TRANS (UNLOAD, move_fsm_succeed, UNLOAD_LOADER_UP) { loader_up (); } /* * retry */ FSM_TRANS (UNLOAD, move_fsm_failed, UNLOAD) { move_start_noangle (PG_VECT (2625, 253), 0, 0); } /* * turn toward bin */ FSM_TRANS (UNLOAD_LOADER_UP, loader_uped, UNLOAD_FACE_BIN) { asserv_goto_angle (PG_A_DEG (90)); } /* * turn toward bin */ FSM_TRANS (UNLOAD_LOADER_UP, loader_errored, UNLOAD_FACE_BIN) { asserv_goto_angle (PG_A_DEG (90)); } /* * go backward to bin */ FSM_TRANS (UNLOAD_FACE_BIN, bot_move_succeed, UNLOAD_BACK_BIN) { asserv_move_linearly (-(128 + 250 / 2 - BOT_SIZE_BACK - 50)); } /* * move backward */ FSM_TRANS (UNLOAD_FACE_BIN, bot_move_failed, UNLOAD_FACE_BIN_UNBLOCK) { asserv_move_linearly (-40); } /* * turn toward bin */ FSM_TRANS (UNLOAD_FACE_BIN_UNBLOCK, bot_move_succeed, UNLOAD_FACE_BIN) { asserv_goto_angle (PG_A_DEG (90)); } /* * turn toward bin */ FSM_TRANS (UNLOAD_FACE_BIN_UNBLOCK, bot_move_failed, UNLOAD_FACE_BIN) { asserv_goto_angle (PG_A_DEG (90)); } /* * unload */ FSM_TRANS (UNLOAD_BACK_BIN, bot_move_succeed, UNLOAD_UNLOAD) { asserv_move_motor1_absolute (0, BOT_GATE_SPEED); } /* * unload */ FSM_TRANS (UNLOAD_BACK_BIN, bot_move_failed, UNLOAD_UNLOAD) { asserv_move_motor1_absolute (0, BOT_GATE_SPEED); } /* * close gate * loader down * choose best food to collect */ FSM_TRANS_TIMEOUT (UNLOAD_UNLOAD, 255, COLLECT) { loader_elements = 0; asserv_move_motor1_absolute (BOT_GATE_STROKE_STEP, BOT_GATE_SPEED); loader_down (); top_collect (1); } /* * post loader_element event */ FSM_TRANS (COLLECT, move_fsm_succeed, unload, UNLOAD, collect, COLLECT, slow_motion, COLLECT_SLOW_MOTION) { int16_t slow_motion = food_slow_motion (top_food); if (slow_motion) { FSM_HANDLE (AI, loader_element); return FSM_BRANCH (slow_motion); } else if (top_collect (0)) return FSM_BRANCH (collect); else return FSM_BRANCH (unload); } /* * cancel this element */ FSM_TRANS (COLLECT, move_fsm_failed, unload, UNLOAD, collect, COLLECT) { if (top_collect (0)) { food_cancel (top_food); return FSM_BRANCH (collect); } else return FSM_BRANCH (unload); } /* * move backward * mark as black */ FSM_TRANS (COLLECT, loader_black, COLLECT_BLACK) { asserv_move_linearly (-90); food_black (top_food); } /* * collect */ FSM_TRANS (COLLECT_SLOW_MOTION, loader_downed, unload, UNLOAD, collect, COLLECT) { if (top_collect (0)) return FSM_BRANCH (collect); else return FSM_BRANCH (unload); } /* * same as above */ FSM_TRANS (COLLECT_SLOW_MOTION, loader_errored, unload, UNLOAD, collect, COLLECT) { if (top_collect (0)) return FSM_BRANCH (collect); else return FSM_BRANCH (unload); } /* * same as above */ FSM_TRANS_TIMEOUT (COLLECT_SLOW_MOTION, 450, unload, UNLOAD, collect, COLLECT) { if (top_collect (0)) return FSM_BRANCH (collect); else return FSM_BRANCH (unload); } /* * move backward * mark as black */ FSM_TRANS (COLLECT_SLOW_MOTION, loader_black, COLLECT_BLACK) { asserv_move_linearly (-90); food_black (top_food); } FSM_TRANS (COLLECT_BLACK, bot_move_succeed, unload, UNLOAD, collect, COLLECT) { if (top_collect (0)) return FSM_BRANCH (collect); else return FSM_BRANCH (unload); } FSM_TRANS (COLLECT_BLACK, bot_move_failed, unload, UNLOAD, collect, COLLECT) { if (top_collect (0)) return FSM_BRANCH (collect); else return FSM_BRANCH (unload); }