X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=3ef6675f5837a3535a9e001a497fb5c28f55a77a;hp=a97ae1aaf9597e7dfc8a2d49ccd17dc8ed9ec256;hb=0a6dcb3bfa4b8b424975f91b8bcd57f0832deb9e;hpb=5894a1a70f98504fee52e58f45f181aa684d99bf

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index a97ae1a..3ef6675 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -188,8 +188,6 @@ void strat_event(void *dummy)
 		cobboard.cob_count = 5;
 	if (time_get_s() == 16)
 		cobboard.cob_count = 0;
-	if (time_get_s() == 25)
-		cobboard.cob_count = 5;
 #endif
 
 	/* detect cob on left side */
@@ -280,7 +278,7 @@ static uint8_t strat_eject(void)
 				    TRAJ_FLAGS_NO_NEAR);
 	if (err == 0) {
 		want_pack = 1;
-		strat_set_speed(600, SPEED_ANGLE_SLOW);
+		strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 		err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 	}
 
@@ -296,7 +294,14 @@ static uint8_t strat_eject(void)
 
 	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 	strat_hardstop();
+#ifdef HOST_VERSION
 	time_wait_ms(2000);
+#else
+	WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
+			     2000);
+	WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
+			     2000);
+#endif
 
 	/* half turn */
 	trajectory_a_rel(&mainboard.traj, COLOR_A(180));
@@ -320,13 +325,6 @@ static uint8_t strat_beginning(void)
 	uint8_t err;
 
 	strat_set_acc(ACC_DIST, ACC_ANGLE);
-#ifdef HOST_VERSION
-	strat_set_speed(600, SPEED_ANGLE_FAST);
-#else
-	/* 250 */
-	strat_set_speed(250, SPEED_ANGLE_FAST);
-#endif
-
 	strat_set_speed(600, 60); /* OK */
 	//strat_set_speed(250, 28); /* OK */
 
@@ -335,14 +333,11 @@ static uint8_t strat_beginning(void)
 				    TRAJ_FLAGS_STD);
 
 	strat_set_acc(ACC_DIST, ACC_ANGLE);
-	strat_set_speed(250, SPEED_ANGLE_SLOW);
+	strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 
  l1:
 	DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
-	if (get_cob_count() >= 5)
-		strat_set_speed(600, SPEED_ANGLE_FAST);
-
-	err = line2line(0, LINE_UP, 2, LINE_R_DOWN);
+	err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
 	if (!TRAJ_SUCCESS(err)) {
 		strat_hardstop();
 		time_wait_ms(2000);
@@ -351,10 +346,7 @@ static uint8_t strat_beginning(void)
 
  l2:
 	DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
-	if (get_cob_count() >= 5)
-		strat_set_speed(600, SPEED_ANGLE_FAST);
-
-	err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP);
+	err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
 	if (!TRAJ_SUCCESS(err)) {
 		strat_hardstop();
 		time_wait_ms(2000);
@@ -364,7 +356,7 @@ static uint8_t strat_beginning(void)
 	strat_eject();
 
 	while (1) {
-		strat_set_speed(250, SPEED_ANGLE_FAST);
+		strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 		strat_harvest_circuit();
 		strat_eject();
 	}