lots of work in opponent avoidance and strats

[aversive.git] / projects / microb2010 / mainboard / strat_corn.c

diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index 74dd8d1..c5f0523 100644 (file)
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -315,7 +315,7 @@ static int8_t strat_calc_clitoid(uint8_t num1, uint8_t dir1,
        }
        /* hard turn, 120 deg */
        else {
-               radius = 120;//75;
+               radius = 75;
                if (diff_a_deg > 0)
                        beta_deg = 0;
                else
@@ -332,7 +332,6 @@ static int8_t strat_calc_clitoid(uint8_t num1, uint8_t dir1,
                strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
        }
 
-       /* XXX check return value !! */
        ret = trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
                                 line1_a_deg, 150., diff_a_deg, beta_deg,
                                 radius, xy_norm(l1.p1.x, l1.p1.y,
@@ -350,8 +349,10 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2,
 
  reprocess:
        ret = strat_calc_clitoid(num1, dir1, num2, dir2, &pack_spickles);
-       if (ret < 0)
+       if (ret < 0) {
                DEBUG(E_USER_STRAT, "clitoid failed");
+               return END_ERROR;
+       }
 
        /* XXX what to do if cobboard is stucked */
 
@@ -360,8 +361,13 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2,
                                                     num2, dir2),
                                    flags);
 
+       /* error during traj, or traj finished */
+       if (err != 0)
+               return err;
+
        /* the speed has to change */
-       if (trajectory_get_state(&mainboard.traj) != RUNNING_CLITOID_CURVE)
+       if (err == 0 &&
+           trajectory_get_state(&mainboard.traj) != RUNNING_CLITOID_CURVE)
                goto reprocess;
 
        DEBUG(E_USER_STRAT, "clitoid started err=%d pack_spickles=%d",
@@ -379,7 +385,7 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2,
                err = wait_traj_end(flags);
        }
 
-       DEBUG(E_USER_STRAT, "clitoid finished");
+       DEBUG(E_USER_STRAT, "clitoid finished, err=%d", err);
 
        strat_rpack60 = 0;
        strat_lpack60 = 0;