X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_base.c;h=acded681383da332ef6aa8d40410b10e9bd2575f;hp=a6724ad2033bfdfd19b073c0a15e8f0d16a0b5c7;hb=b699727efceb661be65fbd22e975565b800c628e;hpb=78150017ab8c5615af414df706a0525fe7c262ae

diff --git a/projects/microb2010/mainboard/strat_base.c b/projects/microb2010/mainboard/strat_base.c
index a6724ad..acded68 100644
--- a/projects/microb2010/mainboard/strat_base.c
+++ b/projects/microb2010/mainboard/strat_base.c
@@ -103,6 +103,8 @@ const char *get_err(uint8_t err)
 
 void strat_hardstop(void)
 {
+	DEBUG(E_USER_STRAT, "strat_hardstop");
+
 	trajectory_hardstop(&mainboard.traj);
 	pid_reset(&mainboard.angle.pid);
 	pid_reset(&mainboard.distance.pid);
@@ -209,6 +211,11 @@ void strat_set_speed(uint16_t d, uint16_t a)
 	IRQ_UNLOCK(flags);
 }
 
+void strat_set_acc(double d, double a)
+{
+	trajectory_set_acc(&mainboard.traj, d, a);
+}
+
 void strat_get_speed(uint16_t *d, uint16_t *a)
 {
 	uint8_t flags;
@@ -218,6 +225,15 @@ void strat_get_speed(uint16_t *d, uint16_t *a)
 	IRQ_UNLOCK(flags);
 }
 
+void strat_get_acc(double *d, double *a)
+{
+	uint8_t flags;
+	IRQ_LOCK(flags);
+	*d = mainboard.traj.d_acc;
+	*a = mainboard.traj.a_acc;
+	IRQ_UNLOCK(flags);
+}
+
 void strat_limit_speed_enable(void)
 {
 	strat_limit_speed_enabled = 1;
@@ -228,7 +244,7 @@ void strat_limit_speed_disable(void)
 	strat_limit_speed_enabled = 0;
 }
 
-/* called periodically */
+/* called periodically (note: disabled in 2010) */
 void strat_limit_speed(void)
 {
 	uint16_t lim_d = 0, lim_a = 0;
@@ -278,13 +294,15 @@ void strat_limit_speed(void)
 /* start the strat */
 void strat_start(void)
 {
-	int8_t i;
 	uint8_t err;
 
 	strat_preinit();
 
+#ifndef HOST_VERSION
 	/* if start sw not plugged */
 	if (sensor_get(S_START_SWITCH)) {
+		int8_t i;
+
 		printf_P(PSTR("No start switch, press a key or plug it\r\n"));
 
 		/* while start sw not plugged */
@@ -306,6 +324,7 @@ void strat_start(void)
 		/* while start sw plugged */
 		while (!sensor_get(S_START_SWITCH));
 	}
+#endif
 
 	strat_init();
 	err = strat_main();
@@ -324,8 +343,7 @@ uint8_t strat_obstacle(void)
 		return 0;
 
 	/* no opponent detected */
-	if (get_opponent_xyda(&opp_x, &opp_y,
-			      &opp_d, &opp_a))
+	if (get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a))
 		return 0;
 
 	/* save obstacle position */
@@ -334,6 +352,9 @@ uint8_t strat_obstacle(void)
 	opponent_obstacle.d = opp_d;
 	opponent_obstacle.a = opp_a;
 
+	if (!is_in_area(opp_x, opp_y, 250))
+		return 0;
+
 	/* sensor are temporarily disabled */
 	if (sensor_obstacle_is_disabled())
 		return 0;
@@ -343,7 +364,7 @@ uint8_t strat_obstacle(void)
 	y_rel = sin(RAD(opp_a)) * (double)opp_d;
 
 	/* opponent too far */
-	if (opp_d > 600)
+	if (opp_d > 500)
 		return 0;
 
 	/* opponent is in front of us */