work on trajectory, update cobboard and ballboard too

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

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index add640a..53d9192 100644 (file)
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -23,10 +23,10 @@
 #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
@@ -69,13 +69,17 @@
 #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 */