avant la coupe de belgique

[aversive.git] / projects / microb2010 / mainboard / commands_traj.c

diff --git a/projects/microb2010/mainboard/commands_traj.c b/projects/microb2010/mainboard/commands_traj.c
index 8c59996..be9150b 100644 (file)
--- a/projects/microb2010/mainboard/commands_traj.c
+++ b/projects/microb2010/mainboard/commands_traj.c
@@ -766,14 +766,13 @@ static void auto_position(void)
        strat_get_speed(&old_spdd, &old_spda);
        strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
 
-       trajectory_d_rel(&mainboard.traj, 300);
-       err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
+       err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
        if (err == END_INTR)
                goto intr;
-       wait_ms(100);
-       strat_reset_pos(ROBOT_WIDTH/2,
+       strat_reset_pos(ROBOT_WIDTH/2 + 100,
                        COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
                        COLOR_A(-90));
+       strat_hardstop();
 
        trajectory_d_rel(&mainboard.traj, -180);
        err = wait_traj_end(END_INTR|END_TRAJ);
@@ -785,14 +784,13 @@ static void auto_position(void)
        if (err == END_INTR)
                goto intr;
 
-       trajectory_d_rel(&mainboard.traj, 300);
-       err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
+       err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
        if (err == END_INTR)
                goto intr;
-       wait_ms(100);
        strat_reset_pos(ROBOT_HALF_LENGTH_FRONT,
                        DO_NOT_SET_POS,
                        180);
+       strat_hardstop();
 
        trajectory_d_rel(&mainboard.traj, -170);
        err = wait_traj_end(END_INTR|END_TRAJ);