void strat_hardstop(void)
{
+ DEBUG(E_USER_STRAT, "strat_hardstop");
+
trajectory_hardstop(&mainboard.traj);
pid_reset(&mainboard.angle.pid);
pid_reset(&mainboard.distance.pid);
IRQ_UNLOCK(flags);
}
+void strat_set_acc(double d, double a)
+{
+ trajectory_set_acc(&mainboard.traj, d, a);
+}
+
void strat_get_speed(uint16_t *d, uint16_t *a)
{
uint8_t 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;
strat_limit_speed_enabled = 0;
}
-/* called periodically */
+/* called periodically (note: disabled in 2010) */
void strat_limit_speed(void)
{
uint16_t lim_d = 0, lim_a = 0;
/* start the strat */
void strat_start(void)
{
- int8_t i;
uint8_t err;
strat_preinit();
+#ifndef HOST_VERSION
/* if start sw not plugged */
if (sensor_get(S_START_SWITCH)) {
+ int8_t i;
+
printf_P(PSTR("No start switch, press a key or plug it\r\n"));
/* while start sw not plugged */
/* while start sw plugged */
while (!sensor_get(S_START_SWITCH));
}
+#endif
strat_init();
err = strat_main();
return 0;
/* no opponent detected */
- if (get_opponent_xyda(&opp_x, &opp_y,
- &opp_d, &opp_a))
+ if (get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a))
return 0;
/* save obstacle position */
opponent_obstacle.d = opp_d;
opponent_obstacle.a = opp_a;
+ if (!is_in_area(opp_x, opp_y, 250))
+ return 0;
+
/* sensor are temporarily disabled */
if (sensor_obstacle_is_disabled())
return 0;
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 */