lots of work in opponent avoidance and strats

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

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index 9fa720a..2be7651 100644 (file)
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -131,16 +131,20 @@
 #define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
 
 /* default acc */
-#define ACC_DIST  15.
-#define ACC_ANGLE 15.
+#define ACC_DIST  16.
+#define ACC_ANGLE 16.
 
 /* default speeds */
-#define SPEED_DIST_FAST 2500.
-#define SPEED_ANGLE_FAST 2000.
-#define SPEED_DIST_SLOW 1000.
-#define SPEED_ANGLE_SLOW 1000.
-#define SPEED_DIST_VERY_SLOW 400.
-#define SPEED_ANGLE_VERY_SLOW 400.
+#define SPEED_DIST_FAST 1500.
+#define SPEED_ANGLE_FAST 1000.
+#define SPEED_DIST_SLOW 500.
+#define SPEED_ANGLE_SLOW 500.
+#define SPEED_DIST_VERY_SLOW 200.
+#define SPEED_ANGLE_VERY_SLOW 200.
+
+#define SPEED_CLITOID_SLOW 250.
+#define SPEED_CLITOID_FAST 500.
+
 
 /* strat infos structures */
 struct strat_conf {
@@ -151,6 +155,9 @@ struct strat_conf {
 };
 
 extern struct strat_conf strat_conf;
+extern volatile uint8_t strat_lpack60;
+extern volatile uint8_t strat_rpack60;
+extern volatile uint8_t strat_want_pack;
 
 /* in strat.c */
 void strat_conf_dump(const char *caller);
@@ -162,5 +169,7 @@ 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_event_enable(void);
+void strat_event_disable(void);
 
 #endif