wait obstacle -- c nul en fait

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 14aaf65..4955bba 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -101,6 +101,7 @@ void strat_preinit(void)
                DO_POS | DO_BD | DO_POWER;
 
        strat_db_init();
+       strat_conf.prev_wait_obstacle = -5;
        strat_conf_dump(__FUNCTION__);
        strat_db_dump(__FUNCTION__);
 }
@@ -111,10 +112,12 @@ void strat_conf_dump(const char *caller)
                return;
 
        printf_P(PSTR("-- conf --\r\n"));
-       printf_P(PSTR("opp_orange = %d\n"), strat_conf.opp_orange);
-       printf_P(PSTR("orphan_tomato = %d\n"), strat_conf.orphan_tomato);
        printf_P(PSTR("our_orange = %s\n"),
                 (strat_conf.flags & STRAT_CONF_OUR_ORANGE) ? "y":"n");
+       printf_P(PSTR("wait_obstacle = %s\n"),
+                (strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE) ? "y":"n");
+       printf_P(PSTR("opp_orange = %d\n"), strat_conf.opp_orange);
+       printf_P(PSTR("orphan_tomato = %d\n"), strat_conf.orphan_tomato);
 }
 
 void strat_event_enable(void)
@@ -556,11 +559,27 @@ static uint8_t strat_beginning(uint8_t do_initturn)
        strat_set_acc(ACC_DIST, ACC_ANGLE);
        strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 
+ l1:
        err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
+       if (err == END_OBSTACLE &&
+           strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
+           time_get_s() > strat_conf.prev_wait_obstacle + 5) {
+               strat_conf.prev_wait_obstacle = time_get_s();
+               time_wait_ms(2000);
+               goto l1;
+       }
        if (!TRAJ_SUCCESS(err))
                return err;
 
+ l2:
        err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
+       if (err == END_OBSTACLE &&
+           strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
+           time_get_s() > strat_conf.prev_wait_obstacle + 5) {
+               strat_conf.prev_wait_obstacle = time_get_s();
+               time_wait_ms(2000);
+               goto l2;
+       }
        if (!TRAJ_SUCCESS(err)) {
                return err;
        }