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go fast between corn cobs
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
strat.h
diff --git
a/projects/microb2010/mainboard/strat.h
b/projects/microb2010/mainboard/strat.h
index
9fa720a
..
0930706
100644
(file)
--- a/
projects/microb2010/mainboard/strat.h
+++ b/
projects/microb2010/mainboard/strat.h
@@
-131,8
+131,8
@@
#define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
/* default acc */
#define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
/* default acc */
-#define ACC_DIST 1
5
.
-#define ACC_ANGLE 1
5
.
+#define ACC_DIST 1
6
.
+#define ACC_ANGLE 1
6
.
/* default speeds */
#define SPEED_DIST_FAST 2500.
/* default speeds */
#define SPEED_DIST_FAST 2500.
@@
-142,6
+142,10
@@
#define SPEED_DIST_VERY_SLOW 400.
#define SPEED_ANGLE_VERY_SLOW 400.
#define SPEED_DIST_VERY_SLOW 400.
#define SPEED_ANGLE_VERY_SLOW 400.
+#define SPEED_CLITOID_SLOW 250.
+#define SPEED_CLITOID_FAST 500.
+
+
/* strat infos structures */
struct strat_conf {
uint8_t dump_enabled;
/* strat infos structures */
struct strat_conf {
uint8_t dump_enabled;
@@
-151,6
+155,8
@@
struct strat_conf {
};
extern struct strat_conf strat_conf;
};
extern struct strat_conf strat_conf;
+extern volatile uint8_t strat_lpack60;
+extern volatile uint8_t strat_rpack60;
/* in strat.c */
void strat_conf_dump(const char *caller);
/* in strat.c */
void strat_conf_dump(const char *caller);
@@
-162,5
+168,7
@@
void strat_dump_flags(void);
void strat_goto_near(int16_t x, int16_t y, uint16_t dist);
uint8_t strat_main(void);
void strat_event(void *dummy);
void strat_goto_near(int16_t x, int16_t y, uint16_t dist);
uint8_t strat_main(void);
void strat_event(void *dummy);
+void strat_event_enable(void);
+void strat_event_disable(void);
#endif
#endif