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restore first circle algo + hostsim work
[aversive.git]
/
projects
/
microb2010
/
tests
/
hostsim
/
commands_mainboard.c
diff --git
a/projects/microb2010/tests/hostsim/commands_mainboard.c
b/projects/microb2010/tests/hostsim/commands_mainboard.c
index
b07983b
..
3b2d82b
100644
(file)
--- a/
projects/microb2010/tests/hostsim/commands_mainboard.c
+++ b/
projects/microb2010/tests/hostsim/commands_mainboard.c
@@
-2214,9
+2214,17
@@
static void cmd_test_parsed(void *parsed_result, void *data)
{
struct cmd_test_result *res = parsed_result;
double d,a;
{
struct cmd_test_result *res = parsed_result;
double d,a;
+ uint8_t err;
+
+ strat_reset_pos(1000, 500, 0);
strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
circle_get_da_speed_from_radius(&mainboard.traj, res->radius, &d, &a);
strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
circle_get_da_speed_from_radius(&mainboard.traj, res->radius, &d, &a);
- printf_P(PSTR("d=%2.2f a=%2.2f\r\n"), d, a);
+ trajectory_d_rel(&mainboard.traj, 1000);
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_double(&mainboard.pos) > 1500, 0xFF);
+ if (err)
+ return;
+ strat_set_speed(d, a);
+ trajectory_d_a_rel(&mainboard.traj, 10000, 1000);
}
prog_char str_test_arg0[] = "test";
}
prog_char str_test_arg0[] = "test";