interrupt_traj_reset();
strat_get_speed(&old_spdd, &old_spda);
strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
+ strat_set_acc(3, 3);
err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
if (err == END_INTR)
COLOR_A(-90));
strat_hardstop();
- trajectory_d_rel(&mainboard.traj, -180);
+ trajectory_d_rel(&mainboard.traj, -70);
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
+ time_wait_ms(250);
trajectory_a_rel(&mainboard.traj, COLOR_A(-90));
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
+ time_wait_ms(250);
err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
if (err == END_INTR)
goto intr;
180);
strat_hardstop();
- trajectory_d_rel(&mainboard.traj, -170);
+ trajectory_d_rel(&mainboard.traj, -80);
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
- wait_ms(100);
+ time_wait_ms(250);
- trajectory_a_rel(&mainboard.traj, COLOR_A(-110));
+ trajectory_a_rel(&mainboard.traj, COLOR_A(-135));
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
- wait_ms(100);
+ time_wait_ms(250);
strat_set_speed(old_spdd, old_spda);
return;