X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.h;h=0930706ecada8056976c853f6cd8040192a8def3;hp=9fa720af8714094cc04c873535fd1f469a7a0d41;hb=876789a372da2e93a816428649e511c2ad9e40be;hpb=9d056416278ae5d772a0fc1f7d2d11a4461fb673

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index 9fa720a..0930706 100644
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -131,8 +131,8 @@
 #define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
 
 /* default acc */
-#define ACC_DIST  15.
-#define ACC_ANGLE 15.
+#define ACC_DIST  16.
+#define ACC_ANGLE 16.
 
 /* default speeds */
 #define SPEED_DIST_FAST 2500.
@@ -142,6 +142,10 @@
 #define SPEED_DIST_VERY_SLOW 400.
 #define SPEED_ANGLE_VERY_SLOW 400.
 
+#define SPEED_CLITOID_SLOW 250.
+#define SPEED_CLITOID_FAST 500.
+
+
 /* strat infos structures */
 struct strat_conf {
 	uint8_t dump_enabled;
@@ -151,6 +155,8 @@ struct strat_conf {
 };
 
 extern struct strat_conf strat_conf;
+extern volatile uint8_t strat_lpack60;
+extern volatile uint8_t strat_rpack60;
 
 /* in strat.c */
 void strat_conf_dump(const char *caller);
@@ -162,5 +168,7 @@ void strat_dump_flags(void);
 void strat_goto_near(int16_t x, int16_t y, uint16_t dist);
 uint8_t strat_main(void);
 void strat_event(void *dummy);
+void strat_event_enable(void);
+void strat_event_disable(void);
 
 #endif