Hacking for the first competition

.gitmodules

@@ -3,4 +3,4 @@
 	url = https://github.com/ryanplusplus/stm8s-header
 [submodule "lib/stm8-tiny"]
 	path = lib/stm8-tiny
-	url = https://github/com/ryanplusplus/stm8-tiny
+	url = https://github.com/ryanplusplus/stm8-tiny

.vscode/launch.json

@@ -22,7 +22,7 @@
       "name": "Test",
       "type": "cppdbg",
       "request": "launch",
-      "program": "${workspaceFolder}/build/zumo_tests",
+      "program": "${workspaceFolder}/build/test/zumo_tests",
       "args": [],
       "stopAtEntry": false,
       "cwd": "${workspaceFolder}",
@@ -44,4 +44,4 @@
       "preLaunchTask": "debug-deps-test"
     }
   ]
-}
+}

.vscode/settings.json

@@ -7,5 +7,10 @@
     "editor.tabSize": 2,
     "editor.insertSpaces": true
   },
-  "editor.formatOnSave": true
+  "editor.formatOnSave": true,
+  "files.associations": {
+    "tuning.h": "c",
+    "tiny_utils.h": "c",
+    "cstdio": "c"
+  }
 }

.vscode/tasks.json

@@ -19,7 +19,7 @@
     {
       "label": "debug-deps-test",
       "type": "shell",
-      "command": "make -j8 -f test.mk debug-deps",
+      "command": "",
       "presentation": {
         "echo": true,
         "reveal": "silent",
@@ -30,4 +30,4 @@
       }
     }
   ]
-}
+}

README.md

@@ -43,7 +43,7 @@ make -f test.mk
 
 ## Pinout
 | STM8 Pin | Zumo Pin | Peripheral | Function               |
-|----------|----------|------------|------------------------|
+| -------- | -------- | ---------- | ---------------------- |
 | PA3      | N/A      | GPIO       | Heartbeat LED          |
 | PE1      | SCL      | I2C SCL    | I2C SCL                |
 | PE2      | SDA      | I2C SDA    | I2C SDA                |
@@ -58,6 +58,7 @@ make -f test.mk
 | PB3      | ?        | AN2        | Left distance sensor   |
 | N/A      | N/A      | AN4        | Center distance sensor |
 | PB2      | ?        | AN3        | Right distance sensor  |
+| PC7      | 12       | GPIO       | Configuration pin      |
 
 ## Resources
 - [STM8S/STM8AF Reference Manual](https://www.st.com/resource/en/reference_manual/cd00190271.pdf)

src/application/application.c

@@ -13,7 +13,7 @@ void application_init(application_t* self, tiny_timer_group_t* timer_group) {
 
   motors_plugin_init(&self->motors_plugin, store);
   line_sensors_plugin_init(&self->line_sensors_plugin, store, timer_group);
-  distance_sensors_plugin_init(&self->distance_sensors_plugin, store, timer_group);
+  // distance_sensors_plugin_init(&self->distance_sensors_plugin, store, timer_group);
   accelerometer_plugin_init(&self->accelerometer_plugin, store, timer_group);
   buzzer_plugin_init(&self->buzzer_plugin, store);
   strategy_plugin_init(&self->strategy_plugin, store, timer_group);

src/application/data_model.h

@@ -17,6 +17,7 @@
 #include "direction.h"
 #include "distance_in_cm.h"
 #include "buzzer_frequency.h"
+#include "i_tiny_adc.h"
 
 // clang-format off
 #define data_model_key_value_pairs(pair) \
@@ -37,6 +38,7 @@
   pair(key_center_sensor_distance,      distance_in_cm_t) \
   pair(key_right_sensor_distance,       distance_in_cm_t) \
   pair(key_buzzer_frequency,            buzzer_frequency_t) \
+  pair(key_knob_counts,                 tiny_adc_counts_t) \
 // clang-format on
 
 enumerate_ram_key_value_pairs(data_model_key_value_pairs);

src/application/meta-sensing/tactic.h

@@ -10,6 +10,7 @@
 
 enum {
   tactic_idle,
+  tactic_init,
   tactic_seek_clockwise,
   tactic_seek_counterclockwise,
   tactic_charge,

src/application/plugin/strategy_plugin.c

@@ -5,6 +5,7 @@
 
 #include "strategy_plugin.h"
 #include "data_model.h"
+#include "tuning.h"
 
 static const strategist_keys_t strategist_keys = {
   .key_tactic = key_current_tactic,
@@ -24,13 +25,6 @@ static const line_detected_keys_t line_detected_keys = {
   .key_tactic_stopped = key_tactic_stopped
 };
 
-static const line_detected_config_t line_detected_config = {
-  .near_wheel_power = 30,
-  .far_wheel_power = 100,
-  .back_up_time = 200,
-  .turn_time = 300
-};
-
 static const charge_keys_t charge_keys = {
   .left_motor = key_left_motor,
   .right_motor = key_right_motor,
@@ -44,14 +38,27 @@ static const seeking_keys_t seeking_keys = {
   .tactic = key_current_tactic
 };
 
+static const spin_on_init_keys_t spin_on_init_keys = {
+  .left_motor = key_left_motor,
+  .right_motor = key_right_motor,
+  .knob_counts = key_knob_counts,
+  .tactic = key_current_tactic,
+  .tactic_stopped = key_tactic_stopped
+};
+
 void strategy_plugin_init(strategy_plugin_t* self, i_tiny_key_value_store_t* key_value_store, tiny_timer_group_t* timer_group) {
   strategist_init(&self->strategist, key_value_store, &strategist_keys);
 
+  spin_on_init_init(
+    &self->spin_on_init,
+    key_value_store,
+    &spin_on_init_keys,
+    timer_group);
+
   line_detected_init(
     &self->line_detected,
     key_value_store,
     &line_detected_keys,
-    &line_detected_config,
     timer_group);
 
   charge_init(&self->charge, key_value_store, &charge_keys);

src/application/plugin/strategy_plugin.h

@@ -9,12 +9,14 @@
 #include "line_detected.h"
 #include "charge.h"
 #include "seeking.h"
+#include "spin_on_init.h"
 
 typedef struct {
   strategist_t strategist;
   line_detected_t line_detected;
   charge_t charge;
   seeking_t seeking;
+  spin_on_init_t spin_on_init;
 } strategy_plugin_t;
 
 void strategy_plugin_init(

src/application/tactics/charge.c

@@ -7,13 +7,12 @@
 #include "enemy_location.h"
 #include "tactic.h"
 #include "tiny_utils.h"
+#include "tuning.h"
 #include "motor_power.h"
 
 enum {
-  near_wheel_power = 30,
-  far_wheel_power = 100,
-  reduced_charge = 80,
-  charge = 100,
+  reduced_charge = charge_reduced_power,
+  charge = charge_full_power,
   toward_the_left = enemy_location_front_left,
   toward_the_right = enemy_location_front_right
 };

src/application/tactics/line_detected.c

@@ -6,6 +6,7 @@
 #include "line_detected.h"
 #include "tactic.h"
 #include "tiny_utils.h"
+#include "tuning.h"
 
 static void stop_running_timer_expired(tiny_timer_group_t* group, void* context) {
   reinterpret(self, context, line_detected_t*);
@@ -39,13 +40,13 @@ static void back_up_timer_expired(tiny_timer_group_t* group, void* context) {
   motor_power_t left_power;
   motor_power_t right_power;
 
-  if(the_left_line_was_detected(self)) {
-    left_power = 100;
-    right_power = -30;
+  if(self->left_line_was_detected) {
+    left_power = line_detection_near_wheel_power;
+    right_power = line_detection_far_wheel_power;
   }
   else {
-    left_power = -30;
-    right_power = 100;
+    left_power = line_detection_far_wheel_power;
+    right_power = line_detection_near_wheel_power;
   }
 
   tiny_key_value_store_write(
@@ -61,7 +62,7 @@ static void back_up_timer_expired(tiny_timer_group_t* group, void* context) {
   tiny_timer_start(
     self->timer_group,
     &self->stop_running_timer,
-    self->config->turn_time,
+    line_detection_turn_time,
     stop_running_timer_expired,
     self);
 }
@@ -75,6 +76,7 @@ static void data_changed(void* context, const void* _args) {
 
     if(*tactic == tactic_avoid_line) {
       motor_power_t power = motor_power_min;
+      self->left_line_was_detected = the_left_line_was_detected(self);
       tiny_key_value_store_write(
         self->key_value_store,
         self->keys->key_left_motor,
@@ -87,7 +89,7 @@ static void data_changed(void* context, const void* _args) {
       tiny_timer_start(
         self->timer_group,
         &self->back_up_timer,
-        self->config->back_up_time,
+        line_detection_back_up_time,
         back_up_timer_expired,
         self);
     }
@@ -98,12 +100,10 @@ void line_detected_init(
   line_detected_t* self,
   i_tiny_key_value_store_t* key_value_store,
   const line_detected_keys_t* keys,
-  const line_detected_config_t* config,
   tiny_timer_group_t* timer_group) {
   self->key_value_store = key_value_store;
   self->keys = keys;
   self->timer_group = timer_group;
-  self->config = config;
 
   tiny_event_subscription_init(&self->on_change_subscription, self, data_changed);
   tiny_event_subscribe(tiny_key_value_store_on_change(key_value_store), &self->on_change_subscription);

src/application/tactics/line_detected.h

@@ -22,28 +22,20 @@ typedef struct {
   tiny_key_value_store_key_t key_tactic_stopped;
 } line_detected_keys_t;
 
-typedef struct {
-  motor_power_t near_wheel_power;
-  motor_power_t far_wheel_power;
-  tiny_timer_ticks_t back_up_time;
-  tiny_timer_ticks_t turn_time;
-} line_detected_config_t;
-
 typedef struct {
   tiny_event_subscription_t on_change_subscription;
   i_tiny_key_value_store_t* key_value_store;
   const line_detected_keys_t* keys;
-  const line_detected_config_t* config;
   tiny_timer_t back_up_timer;
   tiny_timer_t stop_running_timer;
   tiny_timer_group_t* timer_group;
+  bool left_line_was_detected;
 } line_detected_t;
 
 void line_detected_init(
   line_detected_t* self,
   i_tiny_key_value_store_t* key_value_store,
   const line_detected_keys_t* keys,
-  const line_detected_config_t* config,
   tiny_timer_group_t* timer_group);
 
 #endif

src/application/tactics/seeking.c

@@ -6,11 +6,12 @@
 #include "seeking.h"
 #include "tactic.h"
 #include "tiny_utils.h"
+#include "tuning.h"
 #include "motor_power.h"
 
 enum {
-  near_wheel_power = 30,
-  far_wheel_power = 100
+  near_wheel_power = seeking_near_wheel_power,
+  far_wheel_power = seeking_far_wheel_power
 };
 
 static void set_right_motor_to(seeking_t* self, motor_power_t power) {

src/application/tactics/spin_on_init.c

@@ -0,0 +1,93 @@
+/*!
+ * @file
+ * @brief
+ */
+
+#include "spin_on_init.h"
+#include "tactic.h"
+#include "tiny_utils.h"
+#include "tuning.h"
+#include "i_tiny_adc.h"
+#include <stdio.h>
+
+enum {
+  max_counts = 0xFFFF
+};
+
+static void stop_running_timer_expired(tiny_timer_group_t* group, void* context) {
+  reinterpret(self, context, spin_on_init_t*);
+  (void)group;
+  uint8_t stopped;
+  tiny_key_value_store_read(
+    self->key_value_store,
+    self->keys->tactic_stopped,
+    &stopped);
+
+  stopped++;
+
+  tiny_key_value_store_write(
+    self->key_value_store,
+    self->keys->tactic_stopped,
+    &stopped);
+}
+
+static tiny_adc_counts_t potentiometer_counts(spin_on_init_t* self) {
+  tiny_adc_counts_t counts;
+  tiny_key_value_store_read(
+    self->key_value_store,
+    self->keys->knob_counts,
+    &counts);
+  return counts;
+}
+
+static void spin(spin_on_init_t* self, bool spin_right) {
+  motor_power_t left_power = spin_right ? spin_on_init_near_wheel_power : spin_on_init_far_wheel_power;
+  motor_power_t right_power = spin_right ? spin_on_init_far_wheel_power : spin_on_init_near_wheel_power;
+  tiny_key_value_store_write(
+    self->key_value_store,
+    self->keys->left_motor,
+    &left_power);
+  tiny_key_value_store_write(
+    self->key_value_store,
+    self->keys->right_motor,
+    &right_power);
+}
+
+// static tiny_timer_ticks_t counts_to_ticks(tiny_adc_counts_t counts) {
+//   return (((uint64_t)counts) * (uint64_t)turn_time_360_degree) / (uint64_t)max_counts;
+// }
+
+static void data_changed(void* context, const void* _args) {
+  reinterpret(self, context, spin_on_init_t*);
+  reinterpret(args, _args, const tiny_key_value_store_on_change_args_t*);
+
+  if(args->key == self->keys->tactic) {
+    reinterpret(tactic, args->value, const tactic_t*);
+
+    if(*tactic == tactic_init) {
+      tiny_adc_counts_t counts = potentiometer_counts(self);
+      bool spin_right = counts < (0xFFFF / 2);
+      spin(self, spin_right);
+
+      tiny_timer_start(
+        self->timer_group,
+        &self->back_up_timer,
+        turn_time_360_degree / 3,
+        stop_running_timer_expired,
+        self);
+    }
+  }
+}
+
+void spin_on_init_init(
+  spin_on_init_t* self,
+  i_tiny_key_value_store_t* key_value_store,
+  const spin_on_init_keys_t* keys,
+  tiny_timer_group_t* timer_group) {
+  self->key_value_store = key_value_store;
+  self->keys = keys;
+  self->timer_group = timer_group;
+
+  tiny_event_subscription_init(&self->on_change_subscription, self, data_changed);
+  tiny_event_subscribe(tiny_key_value_store_on_change(key_value_store), &self->on_change_subscription);
+}