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update and reliabilize strats
[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
1a89f4d
..
acded68
100644
(file)
--- a/
projects/microb2010/mainboard/strat_base.c
+++ b/
projects/microb2010/mainboard/strat_base.c
@@
-225,6
+225,15
@@
void strat_get_speed(uint16_t *d, uint16_t *a)
IRQ_UNLOCK(flags);
}
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;
void strat_limit_speed_enable(void)
{
strat_limit_speed_enabled = 1;
@@
-355,7
+364,7
@@
uint8_t strat_obstacle(void)
y_rel = sin(RAD(opp_a)) * (double)opp_d;
/* opponent too far */
y_rel = sin(RAD(opp_a)) * (double)opp_d;
/* opponent too far */
- if (opp_d >
6
00)
+ if (opp_d >
5
00)
return 0;
/* opponent is in front of us */
return 0;
/* opponent is in front of us */