20100416

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

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index 53d9192..0a31073 100644 (file)
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -45,20 +45,21 @@
 /*
  *
  *
- *
- *
- *     +------------------------------------+
- *     |                                   |
- *     |                                   |
- *     |                                   |
- *     |                                   | 
- *  y  |                                   |
- *     |                                   |  
- *     |------                       ------| 
- *     |     |                       |     | 
- *     |     |                       |     | 
- *     +-----+------------------------+-----+
- *                       x
+ *           vertical lines
+ *            O     1     2     3     4     5
+ * 2100 +-----|-----|-----|-----|-----|-----|-----+
+ *      |        o           o           o        |
+ *      |  o           o           o           o  |   diag
+ *      |        o           o           o        |   lines
+ *     0/  o           o           o           o  \0
+ *  y   |        o                       o        |
+ *     1/  o                                   o  \1
+ *      |                                         |
+ *     2/------                             ------\2
+ *      |     |                             |     |
+ *      |     |                             |     |
+ *   0  +-----+-----------------------------+-----+
+ *     0                  x                      3000
  */
 
 /* useful traj flags */
@@ -70,8 +71,8 @@
 #define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
 
 /* default acc */
-#define ACC_DIST  5.
-#define ACC_ANGLE 5.
+#define ACC_DIST  10.
+#define ACC_ANGLE 10.
 
 /* default speeds */
 #define SPEED_DIST_FAST 2500.
@@ -83,23 +84,30 @@
 
 /* strat infos structures */
 
-struct bbox {
+struct strat_bbox {
        int32_t x1;
        int32_t y1;
        int32_t x2;
        int32_t y2;
 };
 
-struct conf {
+struct strat_conf {
 #define STRAT_CONF_XXX   0x01
        uint8_t flags;
 };
 
+struct strat_status {
+#define STRAT_STATUS_LHARVEST 0x01
+#define STRAT_STATUS_RHARVEST 0x02
+       uint8_t flags;
+};
+
 /* all infos related to strat */
 struct strat_infos {
        uint8_t dump_enabled;
-       struct conf conf;
-       struct bbox area_bbox;
+       struct strat_conf conf;
+       struct strat_bbox area_bbox;
+       struct strat_status status;
 };
 extern struct strat_infos strat_infos;