X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_traj.c;h=d08b4e5d47392693aaa44bc4cc593bdcc7113c99;hp=54c0cccd305a631fa3e4103e05808bd08dc37f7b;hb=ad466314d3aff8f661654d4701b9d12fdeb7811f;hpb=c20f7eb8460dd04e42f95d799f17d9b60b5ee8e4

diff --git a/projects/microb2010/mainboard/commands_traj.c b/projects/microb2010/mainboard/commands_traj.c
index 54c0ccc..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();
 	}
@@ -1060,6 +1057,8 @@ static void cmd_strat_conf2_parsed(void *parsed_result, void *data)
 		bit = STRAT_CONF_OUR_ORANGE;
 	else if (!strcmp_P(res->arg1, PSTR("wait_obstacle")))
 		bit = STRAT_CONF_WAIT_OBSTACLE;
+	else if (!strcmp_P(res->arg1, PSTR("straight_begin")))
+		bit = STRAT_CONF_STRAIGHT_BEGIN;
 
 	if (on)
 		strat_conf.flags |= bit;
@@ -1072,7 +1071,7 @@ static void cmd_strat_conf2_parsed(void *parsed_result, void *data)
 
 prog_char str_strat_conf2_arg0[] = "strat_conf";
 parse_pgm_token_string_t cmd_strat_conf2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg0, str_strat_conf2_arg0);
-prog_char str_strat_conf2_arg1[] = "our_orange#wait_obstacle";
+prog_char str_strat_conf2_arg1[] = "our_orange#wait_obstacle#straight_begin";
 parse_pgm_token_string_t cmd_strat_conf2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg1, str_strat_conf2_arg1);
 prog_char str_strat_conf2_arg2[] = "on#off";
 parse_pgm_token_string_t cmd_strat_conf2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg2, str_strat_conf2_arg2);