IRQ_UNLOCK(flags);
}
+void strat_get_acc(double *d, double *a)
+{
+ uint8_t flags;
+ IRQ_LOCK(flags);
+ *d = mainboard.traj.d_acc;
+ *a = mainboard.traj.a_acc;
+ IRQ_UNLOCK(flags);
+}
+
void strat_limit_speed_enable(void)
{
strat_limit_speed_enabled = 1;
y_rel = sin(RAD(opp_a)) * (double)opp_d;
/* opponent too far */
- if (opp_d > 600)
+ if (opp_d > 500)
return 0;
/* opponent is in front of us */