X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.h;h=ea2a6ecb878b64b6cecd1f617c5a21b243b2aa1c;hp=0930706ecada8056976c853f6cd8040192a8def3;hb=HEAD;hpb=876789a372da2e93a816428649e511c2ad9e40be

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index 0930706..ea2a6ec 100644
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -131,16 +131,16 @@
 #define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
 
 /* default acc */
-#define ACC_DIST  16.
+#define ACC_DIST  12.
 #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 1200.
+#define SPEED_ANGLE_FAST 800.
+#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.
@@ -150,13 +150,21 @@
 struct strat_conf {
 	uint8_t dump_enabled;
 
-#define STRAT_CONF_XXX   0x01
+	uint8_t opp_orange;
+	uint8_t orphan_tomato;
+
+	int8_t prev_wait_obstacle;
+
+#define STRAT_CONF_OUR_ORANGE      0x01
+#define STRAT_CONF_WAIT_OBSTACLE   0x02
+#define STRAT_CONF_STRAIGHT_BEGIN  0x04
 	uint8_t flags;
 };
 
 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);
@@ -170,5 +178,8 @@ uint8_t strat_main(void);
 void strat_event(void *dummy);
 void strat_event_enable(void);
 void strat_event_disable(void);
+uint8_t prepare_hill(uint8_t orange_color, int16_t posx);
+uint8_t run_to_the_hills(uint8_t orange_color);
+uint8_t get_orphan_tomatoes(void);
 
 #endif