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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 */
*/
/* useful traj flags */
@@
-70,8
+71,8
@@
#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
5
.
-#define ACC_ANGLE
5
.
+#define ACC_DIST
10
.
+#define ACC_ANGLE
10
.
/* default speeds */
#define SPEED_DIST_FAST 2500.
/* default speeds */
#define SPEED_DIST_FAST 2500.
@@
-83,23
+84,30
@@
/* strat infos structures */
/* strat infos structures */
-struct bbox {
+struct
strat_
bbox {
int32_t x1;
int32_t y1;
int32_t x2;
int32_t y2;
};
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;
};
#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;
/* 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;
};
extern struct strat_infos strat_infos;