#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();
}
bit = STRAT_CONF_OUR_ORANGE;
else if (!strcmp_P(res->arg1, PSTR("wait_obstacle")))
bit = STRAT_CONF_WAIT_OBSTACLE;
+ else if (!strcmp_P(res->arg1, PSTR("straight_begin")))
+ bit = STRAT_CONF_STRAIGHT_BEGIN;
if (on)
strat_conf.flags |= bit;
prog_char str_strat_conf2_arg0[] = "strat_conf";
parse_pgm_token_string_t cmd_strat_conf2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg0, str_strat_conf2_arg0);
-prog_char str_strat_conf2_arg1[] = "our_orange#wait_obstacle";
+prog_char str_strat_conf2_arg1[] = "our_orange#wait_obstacle#straight_begin";
parse_pgm_token_string_t cmd_strat_conf2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg1, str_strat_conf2_arg1);
prog_char str_strat_conf2_arg2[] = "on#off";
parse_pgm_token_string_t cmd_strat_conf2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg2, str_strat_conf2_arg2);