X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.h;h=e8572fca1f0ad47136ae43a5e90dabf8246cda72;hb=1aa73d20096ad6be733b2ddf1c890434bd82db75;hp=3305f1ffa091b13e5314b03242b6cd173c30fc12;hpb=b699727efceb661be65fbd22e975565b800c628e;p=aversive.git

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index 3305f1f..e8572fc 100644
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -135,8 +135,8 @@
 #define ACC_ANGLE 16.
 
 /* default speeds */
-#define SPEED_DIST_FAST 1500.
-#define SPEED_ANGLE_FAST 1000.
+#define SPEED_DIST_FAST 1200.
+#define SPEED_ANGLE_FAST 800.
 #define SPEED_DIST_SLOW 500.
 #define SPEED_ANGLE_SLOW 500.
 #define SPEED_DIST_VERY_SLOW 200.
@@ -153,7 +153,11 @@ struct strat_conf {
 	uint8_t opp_orange;
 	uint8_t orphan_tomato;
 
-#define STRAT_CONF_OUR_ORANGE   0x01
+	int8_t prev_wait_obstacle;
+
+#define STRAT_CONF_OUR_ORANGE      0x01
+#define STRAT_CONF_WAIT_OBSTACLE   0x02
+#define STRAT_CONF_STRAIGHT_BEGIN  0x04
 	uint8_t flags;
 };
 
@@ -174,6 +178,7 @@ uint8_t strat_main(void);
 void strat_event(void *dummy);
 void strat_event_enable(void);
 void strat_event_disable(void);
+uint8_t prepare_hill(uint8_t orange_color, int16_t posx);
 uint8_t run_to_the_hills(uint8_t orange_color);
 uint8_t get_orphan_tomatoes(void);