X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.h;h=ea2a6ecb878b64b6cecd1f617c5a21b243b2aa1c;hp=2be7651facf2b88fd9ea15c349f66542ce35a9bc;hb=HEAD;hpb=cc67fe587de07a329525c8f5c8ecfd1fabbf83b8

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index 2be7651..ea2a6ec 100644
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -131,12 +131,12 @@
 #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 1500.
-#define SPEED_ANGLE_FAST 1000.
+#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.
@@ -150,7 +150,14 @@
 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;
 };
 
@@ -171,5 +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