circuit strat, first version

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

diff --git a/projects/microb2010/mainboard/strat_base.h b/projects/microb2010/mainboard/strat_base.h
index 6ff0666..908a2f6 100644 (file)
--- a/projects/microb2010/mainboard/strat_base.h
+++ b/projects/microb2010/mainboard/strat_base.h
@@ -26,8 +26,9 @@
 #define END_OBSTACLE   8 /* There is an obstacle in front of us */
 #define END_ERROR     16 /* Cannot do the command */
 #define END_INTR      32 /* interrupted by user */
-#define END_TIMER     64 /* we don't a lot of time */
-#define END_RESERVED 128 /* reserved */
+#define END_TIMER     64 /* we don't have a lot of time */
+#define END_RESERVED 128 /* reserved... be careful, sometimes error is
+                           coded on a int8_t */
 
 /* only valid after a END_OBSTACLE */
 struct opponent_obstacle {
@@ -65,6 +66,7 @@ uint8_t strat_obstacle(void);
 /* set/get user strat speed */
 void strat_set_speed(uint16_t d, uint16_t a);
 void strat_get_speed(uint16_t *d, uint16_t *a);
+void strat_set_acc(double d, double a);
 
 /* when user type ctrl-c we can interrupt traj */
 void interrupt_traj(void);