Update vault logic with measured distance sensor values.

2026-03-09 21:56:50 -04:00 · 2018-08-18 21:31:22 -07:00
parent 347ad04885
commit 918e8741e0
4 changed files with 56 additions and 31 deletions
--- a/field/coil_string.go
+++ b/field/coil_string.go
@@ -4,9 +4,9 @@ package field

 import "strconv"

-const _coil_name = "heartbeatstackLightGreenstackLightOrangestackLightRedstackLightBluecoilCount"
+const _coil_name = "heartbeatmatchResetstackLightGreenstackLightOrangestackLightRedstackLightBluered1EthernetDisablered2EthernetDisablered3EthernetDisableblue1EthernetDisableblue2EthernetDisableblue3EthernetDisablecoilCount"

-var _coil_index = [...]uint8{0, 9, 24, 40, 53, 67, 76}
+var _coil_index = [...]uint8{0, 9, 19, 34, 50, 63, 77, 96, 115, 134, 154, 174, 194, 203}

 func (i coil) String() string {
 	if i < 0 || i >= coil(len(_coil_index)-1) {
--- a/field/plc.go
+++ b/field/plc.go
@@ -90,10 +90,17 @@ type coil int

 const (
 	heartbeat coil = iota
+	matchReset
 	stackLightGreen
 	stackLightOrange
 	stackLightRed
 	stackLightBlue
+	red1EthernetDisable
+	red2EthernetDisable
+	red3EthernetDisable
+	blue1EthernetDisable
+	blue2EthernetDisable
+	blue3EthernetDisable
 	coilCount
 )

--- a/game/vault.go
+++ b/game/vault.go
@@ -59,14 +59,25 @@ func (vault *Vault) CheckForNewlyPlayedPowerUp() string {
 }

 func countCubes(distance uint16) int {
-	// TODO(patrick): Update with real values once there is a physical setup to test with.
-	if distance >= 3000 {
+	// Ed Jordan's measurements:
+	//   Empty    125
+	//   1 Short  98
+	//   1 Tall   92
+	//   2 Short  68
+	//   2 Tall   58
+	//   3 Short  43
+	//   3 Tall   26
+	if distance <= 15 {
+		// The sensor is probably disconnected or obstructed; this is too tall to be a cube stack.
+		return 0
+	}
+	if distance <= 50 {
 		return 3
 	}
-	if distance >= 2000 {
+	if distance <= 75 {
 		return 2
 	}
-	if distance >= 1000 {
+	if distance <= 105 {
 		return 1
 	}
 	return 0
--- a/game/vault_test.go
+++ b/game/vault_test.go
@@ -9,6 +9,13 @@ import (
 	"time"
 )

+const (
+	zeroCubeDistance  = 125
+	oneCubeDistance   = 98
+	twoCubeDistance   = 58
+	threeCubeDistance = 43
+)
+
 func TestVaultNumCubes(t *testing.T) {
 	// TODO(patrick): Update with real values once there is a physical setup to test with.
 	vault := Vault{}
@@ -16,27 +23,27 @@ func TestVaultNumCubes(t *testing.T) {
 	assert.Equal(t, 0, vault.LevitateCubes)
 	assert.Equal(t, 0, vault.BoostCubes)

-	vault.UpdateCubes(1000, 0, 0)
+	vault.UpdateCubes(oneCubeDistance, zeroCubeDistance, zeroCubeDistance)
 	assert.Equal(t, 1, vault.ForceCubes)
 	assert.Equal(t, 0, vault.LevitateCubes)
 	assert.Equal(t, 0, vault.BoostCubes)

-	vault.UpdateCubes(0, 1000, 1000)
+	vault.UpdateCubes(zeroCubeDistance, oneCubeDistance, oneCubeDistance)
 	assert.Equal(t, 0, vault.ForceCubes)
 	assert.Equal(t, 1, vault.LevitateCubes)
 	assert.Equal(t, 1, vault.BoostCubes)

-	vault.UpdateCubes(0, 0, 2000)
+	vault.UpdateCubes(zeroCubeDistance, zeroCubeDistance, twoCubeDistance)
 	assert.Equal(t, 0, vault.ForceCubes)
 	assert.Equal(t, 0, vault.LevitateCubes)
 	assert.Equal(t, 2, vault.BoostCubes)

-	vault.UpdateCubes(2000, 2000, 3000)
+	vault.UpdateCubes(twoCubeDistance, twoCubeDistance, threeCubeDistance)
 	assert.Equal(t, 2, vault.ForceCubes)
 	assert.Equal(t, 2, vault.LevitateCubes)
 	assert.Equal(t, 3, vault.BoostCubes)

-	vault.UpdateCubes(3000, 3000, 3000)
+	vault.UpdateCubes(threeCubeDistance, threeCubeDistance, threeCubeDistance)
 	assert.Equal(t, 3, vault.ForceCubes)
 	assert.Equal(t, 3, vault.LevitateCubes)
 	assert.Equal(t, 3, vault.BoostCubes)
@@ -45,27 +52,27 @@ func TestVaultNumCubes(t *testing.T) {
 func TestVaultLevitate(t *testing.T) {
 	vault := Vault{}

-	vault.UpdateCubes(0, 0, 0)
+	vault.UpdateCubes(zeroCubeDistance, zeroCubeDistance, zeroCubeDistance)
 	vault.UpdateButtons(false, true, false, time.Now())
 	assert.False(t, vault.LevitatePlayed)

-	vault.UpdateCubes(0, 1000, 0)
+	vault.UpdateCubes(zeroCubeDistance, oneCubeDistance, zeroCubeDistance)
 	vault.UpdateButtons(false, true, false, time.Now())
 	assert.False(t, vault.LevitatePlayed)

-	vault.UpdateCubes(0, 2000, 0)
+	vault.UpdateCubes(zeroCubeDistance, twoCubeDistance, zeroCubeDistance)
 	vault.UpdateButtons(false, true, false, time.Now())
 	assert.False(t, vault.LevitatePlayed)

-	vault.UpdateCubes(0, 3000, 0)
+	vault.UpdateCubes(zeroCubeDistance, threeCubeDistance, zeroCubeDistance)
 	vault.UpdateButtons(true, false, true, time.Now())
 	assert.False(t, vault.LevitatePlayed)

-	vault.UpdateCubes(0, 3000, 0)
+	vault.UpdateCubes(zeroCubeDistance, threeCubeDistance, zeroCubeDistance)
 	vault.UpdateButtons(false, true, false, time.Now())
 	assert.True(t, vault.LevitatePlayed)

-	vault.UpdateCubes(0, 3000, 0)
+	vault.UpdateCubes(zeroCubeDistance, threeCubeDistance, zeroCubeDistance)
 	vault.UpdateButtons(false, false, false, time.Now())
 	assert.True(t, vault.LevitatePlayed)
 }
@@ -74,16 +81,16 @@ func TestVaultForce(t *testing.T) {
 	vault := Vault{Alliance: BlueAlliance}
 	ResetPowerUps()

-	vault.UpdateCubes(0, 0, 0)
+	vault.UpdateCubes(zeroCubeDistance, zeroCubeDistance, zeroCubeDistance)
 	vault.UpdateButtons(true, false, false, time.Now())
 	assert.Nil(t, vault.ForcePowerUp)

-	vault.UpdateCubes(3000, 0, 0)
+	vault.UpdateCubes(threeCubeDistance, zeroCubeDistance, zeroCubeDistance)
 	vault.UpdateButtons(false, true, true, time.Now())
 	assert.Nil(t, vault.ForcePowerUp)

 	// Activation with one cube.
-	vault.UpdateCubes(1000, 0, 0)
+	vault.UpdateCubes(oneCubeDistance, zeroCubeDistance, zeroCubeDistance)
 	vault.UpdateButtons(true, false, false, time.Now())
 	if assert.NotNil(t, vault.ForcePowerUp) {
 		assert.Equal(t, BlueAlliance, vault.ForcePowerUp.Alliance)
@@ -94,7 +101,7 @@ func TestVaultForce(t *testing.T) {
 	// Activation with two cubes.
 	vault = Vault{Alliance: RedAlliance}
 	ResetPowerUps()
-	vault.UpdateCubes(2000, 0, 0)
+	vault.UpdateCubes(twoCubeDistance, zeroCubeDistance, zeroCubeDistance)
 	vault.UpdateButtons(true, false, false, time.Now())
 	if assert.NotNil(t, vault.ForcePowerUp) {
 		assert.Equal(t, RedAlliance, vault.ForcePowerUp.Alliance)
@@ -105,7 +112,7 @@ func TestVaultForce(t *testing.T) {
 	// Activation with three cubes.
 	vault = Vault{Alliance: BlueAlliance}
 	ResetPowerUps()
-	vault.UpdateCubes(3000, 0, 0)
+	vault.UpdateCubes(threeCubeDistance, zeroCubeDistance, zeroCubeDistance)
 	vault.UpdateButtons(true, false, false, time.Now())
 	assert.NotNil(t, vault.ForcePowerUp)
 	if assert.NotNil(t, vault.ForcePowerUp) {
@@ -114,7 +121,7 @@ func TestVaultForce(t *testing.T) {
 		assert.Equal(t, 3, vault.ForcePowerUp.Level)
 	}

-	vault.UpdateCubes(3000, 0, 0)
+	vault.UpdateCubes(threeCubeDistance, zeroCubeDistance, zeroCubeDistance)
 	vault.UpdateButtons(false, false, false, time.Now())
 	assert.NotNil(t, vault.ForcePowerUp)
 }
@@ -123,16 +130,16 @@ func TestVaultBoost(t *testing.T) {
 	vault := Vault{Alliance: BlueAlliance}
 	ResetPowerUps()

-	vault.UpdateCubes(0, 0, 0)
+	vault.UpdateCubes(zeroCubeDistance, zeroCubeDistance, zeroCubeDistance)
 	vault.UpdateButtons(false, false, true, time.Now())
 	assert.Nil(t, vault.BoostPowerUp)

-	vault.UpdateCubes(0, 0, 3000)
+	vault.UpdateCubes(zeroCubeDistance, zeroCubeDistance, threeCubeDistance)
 	vault.UpdateButtons(true, true, false, time.Now())
 	assert.Nil(t, vault.BoostPowerUp)

 	// Activation with one cube.
-	vault.UpdateCubes(0, 0, 1000)
+	vault.UpdateCubes(zeroCubeDistance, zeroCubeDistance, oneCubeDistance)
 	vault.UpdateButtons(false, false, true, time.Now())
 	if assert.NotNil(t, vault.BoostPowerUp) {
 		assert.Equal(t, BlueAlliance, vault.BoostPowerUp.Alliance)
@@ -143,7 +150,7 @@ func TestVaultBoost(t *testing.T) {
 	// Activation with two cubes.
 	vault = Vault{Alliance: RedAlliance}
 	ResetPowerUps()
-	vault.UpdateCubes(0, 0, 2000)
+	vault.UpdateCubes(zeroCubeDistance, zeroCubeDistance, twoCubeDistance)
 	vault.UpdateButtons(false, false, true, time.Now())
 	if assert.NotNil(t, vault.BoostPowerUp) {
 		assert.Equal(t, RedAlliance, vault.BoostPowerUp.Alliance)
@@ -154,7 +161,7 @@ func TestVaultBoost(t *testing.T) {
 	// Activation with three cubes.
 	vault = Vault{Alliance: BlueAlliance}
 	ResetPowerUps()
-	vault.UpdateCubes(0, 0, 3000)
+	vault.UpdateCubes(zeroCubeDistance, zeroCubeDistance, threeCubeDistance)
 	vault.UpdateButtons(false, false, true, time.Now())
 	assert.NotNil(t, vault.BoostPowerUp)
 	if assert.NotNil(t, vault.BoostPowerUp) {
@@ -163,16 +170,16 @@ func TestVaultBoost(t *testing.T) {
 		assert.Equal(t, 3, vault.BoostPowerUp.Level)
 	}

-	vault.UpdateCubes(0, 0, 3000)
+	vault.UpdateCubes(zeroCubeDistance, zeroCubeDistance, threeCubeDistance)
 	vault.UpdateButtons(false, false, false, time.Now())
 	assert.NotNil(t, vault.BoostPowerUp)
 }

 func TestVaultMultipleActivations(t *testing.T) {
 	redVault := Vault{Alliance: RedAlliance}
-	redVault.UpdateCubes(1000, 3000, 1000)
+	redVault.UpdateCubes(oneCubeDistance, threeCubeDistance, oneCubeDistance)
 	blueVault := Vault{Alliance: BlueAlliance}
-	blueVault.UpdateCubes(1000, 3000, 1000)
+	blueVault.UpdateCubes(oneCubeDistance, threeCubeDistance, oneCubeDistance)
 	ResetPowerUps()

 	redVault.UpdateButtons(true, false, false, timeAfterStart(0))