beacon from 2009

[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 0bd04b50058be823f08547183ca2aee1b45b9155..d08b4e5d47392693aaa44bc4cc593bdcc7113c99 100644 (file)
--- a/projects/microb2010/mainboard/commands_traj.c
+++ b/projects/microb2010/mainboard/commands_traj.c
@@ -62,7 +62,6 @@
 #include "strat_db.h"
 #include "../common/i2c_commands.h"
 #include "i2c_protocol.h"
-#include "beacon.h"
 
 /**********************************************************/
 /* Traj_Speeds for trajectory_manager */
@@ -831,7 +830,7 @@ static void auto_position(void)
                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);
@@ -851,7 +850,7 @@ static void auto_position(void)
                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);
@@ -892,7 +891,6 @@ static void cmd_position_parsed(void * parsed_result, void * data)
 #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();
        }
@@ -902,7 +900,6 @@ static void cmd_position_parsed(void * parsed_result, void * data)
 #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();
        }