#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;