real tests

[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 8716486..d68f5a6 100644 (file)
--- a/projects/microb2010/mainboard/strat_base.c
+++ b/projects/microb2010/mainboard/strat_base.c
@@ -143,18 +143,18 @@ uint8_t strat_goto_xy_force(int16_t x, int16_t y)
 }
 
 /* reset position */
-void strat_reset_pos(int16_t x, int16_t y, int16_t a)
+void strat_reset_pos(int16_t x, int16_t y, double a)
 {
-       int16_t posx = position_get_x_s16(&mainboard.pos);
-       int16_t posy = position_get_y_s16(&mainboard.pos);
-       int16_t posa = position_get_a_deg_s16(&mainboard.pos);
+       double posx = position_get_x_double(&mainboard.pos);
+       double posy = position_get_y_double(&mainboard.pos);
+       double posa = position_get_a_rad_double(&mainboard.pos);
 
        if (x == DO_NOT_SET_POS)
                x = posx;
        if (y == DO_NOT_SET_POS)
                y = posy;
        if (a == DO_NOT_SET_POS)
-               a = posa;
+               a = DEG(posa);
 
        /* some issues with blocking on simulator */
 #ifdef HOST_VERSION
@@ -217,7 +217,7 @@ uint8_t strat_calib(int16_t dist, uint8_t flags)
        trajectory_d_rel(&mainboard.traj, dist);
        pid_set_maximums(&mainboard.distance.pid, max_in, max_i, 4095);
        pid_set_gains(&mainboard.angle.pid, 1, 0, 0);
-       time_wait_ms(300);
+       time_wait_ms(500);
        strat_hardstop();
 
 #ifdef HOST_VERSION