X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.h;h=2be7651facf2b88fd9ea15c349f66542ce35a9bc;hp=3ad10bb5af16b930dc99a1992c019ded00342a0d;hb=cc67fe587de07a329525c8f5c8ecfd1fabbf83b8;hpb=5894a1a70f98504fee52e58f45f181aa684d99bf

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index 3ad10bb..2be7651 100644
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -131,16 +131,20 @@
 #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.
-#define SPEED_ANGLE_FAST 2000.
-#define SPEED_DIST_SLOW 1000.
-#define SPEED_ANGLE_SLOW 1000.
-#define SPEED_DIST_VERY_SLOW 400.
-#define SPEED_ANGLE_VERY_SLOW 400.
+#define SPEED_DIST_FAST 1500.
+#define SPEED_ANGLE_FAST 1000.
+#define SPEED_DIST_SLOW 500.
+#define SPEED_ANGLE_SLOW 500.
+#define SPEED_DIST_VERY_SLOW 200.
+#define SPEED_ANGLE_VERY_SLOW 200.
+
+#define SPEED_CLITOID_SLOW 250.
+#define SPEED_CLITOID_FAST 500.
+
 
 /* strat infos structures */
 struct strat_conf {
@@ -153,6 +157,7 @@ struct strat_conf {
 extern struct strat_conf strat_conf;
 extern volatile uint8_t strat_lpack60;
 extern volatile uint8_t strat_rpack60;
+extern volatile uint8_t strat_want_pack;
 
 /* in strat.c */
 void strat_conf_dump(const char *caller);