/* 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. * * }}} */ #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.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; } }