struct strat_conf strat_conf = {
.dump_enabled = 0,
.opp_orange = 90,
- .orphan_tomato = 50,
+ .orphan_tomato = 45,
.flags = 0,
};
return END_TRAJ;
}
+static uint8_t strat_beginning2(uint8_t do_initturn)
+{
+ uint8_t err;
+
+ strat_set_acc(ACC_DIST, ACC_ANGLE);
+
+ if (do_initturn) {
+ strat_set_speed(600, 90); /* OK */
+ trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(-40));
+ err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
+ TRAJ_FLAGS_STD);
+ if (err == 0)
+ return END_TRAJ;
+ }
+ else {
+ trajectory_goto_forward_xy_abs(&mainboard.traj,
+ 375, COLOR_Y(597));
+ err = wait_traj_end(TRAJ_FLAGS_STD);
+ }
+ return err;
+}
+
/* dump state (every 5 s max) */
#define DUMP_RATE_LIMIT(dump, last_print) \
do { \
uint8_t get_orphan_tomatoes(void)
{
#define CLITOID_TOMATO_RADIUS 100.
-#define TOMATO_BACK_X 2760
+#define TOMATO_BACK_X 2780
#define TOMATO_BACK_LEN 200
int16_t x, y, a;
}
/* harvest the first cobs + balls */
- err = strat_beginning(do_initturn);
+ if (strat_conf.flags & STRAT_CONF_STRAIGHT_BEGIN)
+ err = strat_beginning2(do_initturn);
+ else
+ err = strat_beginning(do_initturn);
if (!TRAJ_SUCCESS(err))
strat_unblock();