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

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index e92ff4f..d852396 100644 (file)
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -69,33 +69,44 @@
 #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 */
 
-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;