Strategy last attempt (#301)

* pickap three stack and put in one plenter * calibrate robot * change start field * fix strategy * fix putting in plenter down * fix puting in plenter up * add alternative for detection on panel * fix alternative for blue strategy * add simple strategy for yellow side * add simple strategy for yellow side - fix * try to implement alternative for yellow side * fix approuch point for plenter * fix pots picking * add homologation strategy and fix points for panels * fix blue * calibrate robot * add simple safe strategy for yellow side and fix point for yellow strategy * pull out side gripper * pull out side gripper and fix fallback for side plenter * fix existing strategy * add agresive strategy * delete SIMA from chinch * start with new strategy
memristor · Jun 12, 2024 · 067e1fc · 067e1fc
1 parent 3b2ed68
commit 067e1fc
Show file tree

Hide file tree

Showing 28 changed files with 7,163 additions and 690 deletions.
diff --git a/mep3_behavior/strategies/blue_new_a.xml b/mep3_behavior/strategies/blue_new_a.xml
@@ -0,0 +1,93 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<root BTCPP_format="4">
+  <BehaviorTree ID="blue_new_a">
+    <Sequence>
+      <ScoreboardTask points="0"
+                      task="INIT_DISPLAY"/>
+      <SubTree ID="new_init"
+               _autoremap="true"/>
+      <WaitMatchStart state="2"/>
+      <ForceSuccess>
+        <Timeout msec="100000">
+          <ForceSuccess>
+            <Sequence>
+              <ForceSuccess>
+                <Timeout msec="89000">
+                  <Sequence>
+                    <SubTree ID="blue_new_base_a"
+                             _autoremap="true"/>
+                    <Sleep msec="120000"/>
+                  </Sequence>
+                </Timeout>
+              </ForceSuccess>
+              <SubTree ID="go_home_new_a"
+                       _skipIf="is_in_home==true"
+                       _autoremap="true"/>
+              <JointPosition instance="m2"
+                             max_effort="0"
+                             max_velocity="180"
+                             position="78"
+                             tolerance="10"
+                             feedback_effort="{feedback_effort}"
+                             feedback_position="{feedback_position}"
+                             result="{result}"/>
+              <JointPosition instance="m3"
+                             max_effort="0"
+                             max_velocity="220"
+                             position="220"
+                             tolerance="10"
+                             feedback_effort="{feedback_effort}"
+                             feedback_position="{feedback_position}"
+                             result="{result}"/>
+              <JointPosition instance="m15"
+                             max_effort="0"
+                             max_velocity="220"
+                             position="299"
+                             tolerance="10"
+                             feedback_effort="{feedback_effort}"
+                             feedback_position="{feedback_position}"
+                             result="{result}"/>
+              <ScoreboardTask points="10"
+                              task="FINISH"/>
+              <Sleep msec="120000"/>
+            </Sequence>
+          </ForceSuccess>
+        </Timeout>
+      </ForceSuccess>
+    </Sequence>
+  </BehaviorTree>
+
+  <!-- Description of Node Models (used by Groot) -->
+  <TreeNodesModel>
+    <Action ID="JointPosition"
+            editable="true">
+      <input_port name="instance"/>
+      <input_port name="max_effort"
+                  default="0"/>
+      <input_port name="max_velocity"
+                  default="180"/>
+      <input_port name="position"/>
+      <input_port name="tolerance"
+                  default="10"/>
+      <output_port name="feedback_effort"
+                   default="{feedback_effort}"/>
+      <output_port name="feedback_position"
+                   default="{feedback_position}"/>
+      <output_port name="result"
+                   default="{result}"/>
+    </Action>
+    <Action ID="ScoreboardTask"
+            editable="true">
+      <input_port name="points"
+                  default="0">points scored, can be negative</input_port>
+      <input_port name="task"
+                  default="store_sample_to_work_shed">unique task name</input_port>
+    </Action>
+    <Action ID="WaitMatchStart"
+            editable="true">
+      <input_port name="state"
+                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
+    </Action>
+  </TreeNodesModel>
+
+</root>