cup1

[aversive.git] / projects / microb2010 / mainboard / strat_base.c

diff --git a/projects/microb2010/mainboard/strat_base.c b/projects/microb2010/mainboard/strat_base.c
index d68f5a6..023db36 100644 (file)
--- a/projects/microb2010/mainboard/strat_base.c
+++ b/projects/microb2010/mainboard/strat_base.c
@@ -414,11 +414,12 @@ uint8_t strat_obstacle(void)
        y_rel = sin(RAD(opp_a)) * (double)opp_d;
 
        /* opponent too far */
-       if (opp_d > 500)
+       if (opp_d > 650)
                return 0;
 
        /* opponent is in front of us */
-       if (mainboard.speed_d > 0 && (opp_a > 325 || opp_a < 35)) {
+       if ((mainboard.speed_d > 0 && opp_d < 500 && (opp_a > 325 || opp_a < 35)) &&
+           (mainboard.speed_d > 0 && opp_d < 650 && (opp_a > 340 || opp_a < 20))) {
                DEBUG(E_USER_STRAT, "opponent front d=%d, a=%d "
                      "xrel=%d yrel=%d (speed_d=%d)",
                      opp_d, opp_a, x_rel, y_rel, mainboard.speed_d);
@@ -426,7 +427,8 @@ uint8_t strat_obstacle(void)
                return 1;
        }
        /* opponent is behind us */
-       if (mainboard.speed_d < 0 && (opp_a < 215 && opp_a > 145)) {
+       if ((mainboard.speed_d < 0 && opp_d < 500 && (opp_a < 215 && opp_a > 145)) &&
+           (mainboard.speed_d < 0 && opp_d < 650 && (opp_a < 200 && opp_a > 160))) {
                DEBUG(E_USER_STRAT, "opponent behind d=%d, a=%d xrel=%d yrel=%d",
                      opp_d, opp_a, x_rel, y_rel);
                sensor_obstacle_disable();