X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_traj.c;h=d08b4e5d47392693aaa44bc4cc593bdcc7113c99;hp=0bd04b50058be823f08547183ca2aee1b45b9155;hb=ad466314d3aff8f661654d4701b9d12fdeb7811f;hpb=81e4a9146e5c5ae192e66eb3f68076cd2a7abd0d

diff --git a/projects/microb2010/mainboard/commands_traj.c b/projects/microb2010/mainboard/commands_traj.c
index 0bd04b5..d08b4e5 100644
--- a/projects/microb2010/mainboard/commands_traj.c
+++ b/projects/microb2010/mainboard/commands_traj.c
@@ -62,7 +62,6 @@
 #include "strat_db.h"
 #include "../common/i2c_commands.h"
 #include "i2c_protocol.h"
-#include "beacon.h"
 
 /**********************************************************/
 /* Traj_Speeds for trajectory_manager */
@@ -831,7 +830,7 @@ static void auto_position(void)
 		goto intr;
 	strat_reset_pos(ROBOT_WIDTH/2 + 100,
 			COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
-			COLOR_A(-90));
+			COLOR_A(-90) + ROBOT_ANGLE_FRONT);
 	strat_hardstop();
 
 	trajectory_d_rel(&mainboard.traj, -180);
@@ -851,7 +850,7 @@ static void auto_position(void)
 		goto intr;
 	strat_reset_pos(ROBOT_HALF_LENGTH_FRONT,
 			DO_NOT_SET_POS,
-			180);
+			180 + ROBOT_ANGLE_FRONT);
 	strat_hardstop();
 
 	trajectory_d_rel(&mainboard.traj, -170);
@@ -892,7 +891,6 @@ static void cmd_position_parsed(void * parsed_result, void * data)
 #ifndef HOST_VERSION
 		i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
 		i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
-		beacon_set_color(I2C_COLOR_YELLOW);
 #endif
 		auto_position();
 	}
@@ -902,7 +900,6 @@ static void cmd_position_parsed(void * parsed_result, void * data)
 #ifndef HOST_VERSION
 		i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
 		i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
-		beacon_set_color(I2C_COLOR_BLUE);
 #endif
 		auto_position();
 	}