#include "strat_db.h"
#include "../common/i2c_commands.h"
#include "i2c_protocol.h"
-#include "beacon.h"
/**********************************************************/
/* Traj_Speeds for trajectory_manager */
goto intr;
strat_reset_pos(ROBOT_WIDTH/2 + 100,
COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
- COLOR_A(-90));
+ COLOR_A(-90) + ROBOT_ANGLE_FRONT);
strat_hardstop();
trajectory_d_rel(&mainboard.traj, -180);
goto intr;
strat_reset_pos(ROBOT_HALF_LENGTH_FRONT,
DO_NOT_SET_POS,
- 180);
+ 180 + ROBOT_ANGLE_FRONT);
strat_hardstop();
trajectory_d_rel(&mainboard.traj, -170);
#ifndef HOST_VERSION
i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
- beacon_set_color(I2C_COLOR_YELLOW);
#endif
auto_position();
}
#ifndef HOST_VERSION
i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
- beacon_set_color(I2C_COLOR_BLUE);
#endif
auto_position();
}