X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.h;h=94433c1ee29cbc0f7981ec8a68472ec0617f225f;hp=42b47dd224f13fd111f6d945a4d3cb65970aed6f;hb=4abb0bf96078e303a8f43a0ba020a1801b908ae4;hpb=4e7801883ed4076cb14b63a0571467747894c0f8

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index 42b47dd..94433c1 100644
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -55,7 +55,7 @@
 #define WAYPOINTS_NBY 8
 
 /*
- * Corn position and lines
+ * Corn position and lines, valid for YELLOW.
  *
  *           vertical lines
  *            O     1     2     3     4     5
@@ -68,7 +68,7 @@
  *     1/  c0                                 c15 \1
  *      |-----+                             +-----|
  *     2/     |                             |     \2
- *      |     |                             |     |
+ *      | Yellow                           Blue   |
  *   0  +-----+-----------------------------+-----+
  *     0                  x                      3000
  *
@@ -83,10 +83,43 @@
  *      2                                         |
  *      1-----+                             +-----|
  *      0     |                             |     |
- *      |     |                             |     |
+ *      | Yellow                           Blue   |
  *   0  +-----+-----------------------------+-----+
  *     0                  x                      3000
  *
+ *
+ * Corn position and lines, valid for BLUE.
+ *
+ *           vertical lines
+ *            5     4     3     2     1     0
+ *    0 +-----|-----|-----|-----|-----|-----|-----+
+ *      |        c14         c9         c5        |
+ *      |  c17         c11        c7          c2  |   diag
+ *      |        c13         c8         c4        |   lines
+ *     0/  c16         c10        c6          c1  \0
+ *  y   |        c12                    c3        |
+ *     1/  c15                                c0  \1
+ *      |-----+                             +-----|
+ *     2/     |                             |     \2
+ *      | Yellow                           Blue   |
+ * 2100 +-----+-----------------------------+-----+
+ *    3000                x                       0
+ *
+ * Ball (tomato) and i,j coords (for waypoints)
+ *
+ *    0 +-12-11-10--9--8--7--6--5--4--3--2--1--0--+
+ *      7              t9          t5             |
+ *      6       t11          t7         t3        |
+ *      5 t13          t8          t4         t1  |
+ *      4       t10          t6         t2        |
+ *  y   3 t12                                 t0  |
+ *      2                                         |
+ *      1-----+                             +-----|
+ *      0     |                             |     |
+ *      | Yellow                           Blue   |
+ * 2100 +-----+-----------------------------+-----+
+ *   3000                 x                       0
+ *
  */
 
 /* useful traj flags */
@@ -98,8 +131,8 @@
 #define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
 
 /* default acc */
-#define ACC_DIST  10.
-#define ACC_ANGLE 10.
+#define ACC_DIST  16.
+#define ACC_ANGLE 16.
 
 /* default speeds */
 #define SPEED_DIST_FAST 2500.
@@ -118,6 +151,8 @@ 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);
@@ -129,5 +164,7 @@ 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