#define _STRAT_H_
/* convert coords according to our color */
-#define COLOR_Y(y) ((mainboard.our_color==I2C_COLOR_RED)? (y) : (AREA_Y-(y)))
-#define COLOR_A(a) ((mainboard.our_color==I2C_COLOR_RED)? (a) : (-a))
-#define COLOR_SIGN(x) ((mainboard.our_color==I2C_COLOR_RED)? (x) : (-x))
-#define COLOR_INVERT(x) ((mainboard.our_color==I2C_COLOR_RED)? (x) : (!x))
+#define COLOR_Y(y) ((mainboard.our_color==I2C_COLOR_YELLOW)? (y) : (AREA_Y-(y)))
+#define COLOR_A(a) ((mainboard.our_color==I2C_COLOR_YELLOW)? (a) : (-a))
+#define COLOR_SIGN(x) ((mainboard.our_color==I2C_COLOR_YELLOW)? (x) : (-x))
+#define COLOR_INVERT(x) ((mainboard.our_color==I2C_COLOR_YELLOW)? (x) : (!x))
/* area */
#define AREA_X 3000
#define TRAJ_FLAGS_NO_NEAR_NO_TIMER (END_TRAJ|END_BLOCKING|END_OBSTACLE|END_INTR)
#define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
+/* default acc */
+#define ACC_DIST 5.
+#define ACC_ANGLE 5.
+
/* 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 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.
/* strat infos structures */