#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 {
#define DO_NOT_SET_POS -1000
/* Reset position. If arg == DO_NOT_SET_POS, don't update value for
* it. */
-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);
/* decrease gain on angle PID, and go forward until we reach the
* border. */
/* 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);
+void strat_get_acc(double *d, double *a);
/* when user type ctrl-c we can interrupt traj */
void interrupt_traj(void);