X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_corn.c;h=74dd8d149f306fe2504ed602bd338d55af8a81a0;hp=1f5e1d347c4868af3093b634cb242ef842498480;hb=b56f8565015ec12af0e8df461f8dd52d07f59dd7;hpb=876789a372da2e93a816428649e511c2ad9e40be

diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index 1f5e1d3..74dd8d1 100644
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -168,15 +168,23 @@ static uint8_t clitoid_select_speed(uint8_t num1, uint8_t dir1,
 		return 1;
 	}
 
-/* 	if (time_get_s() > 39) */
-/* 		DEBUG(E_USER_STRAT, "i,j = (%d %d), count=%d", i, j, corn_count_neigh(i, j)); */
+/* 	if (time_get_s() > 32) */
+/* 		DEBUG(E_USER_STRAT, "i,j = (%d %d), count=%d", i, j, */
+/* 		      corn_count_neigh(i, j)); */
 
 	if (corn_count_neigh(i, j) == 2)
 		return 1;
 
+	/* we are on intersection, let's go slow... but as we enter in
+	 * the curve-part of the clitoid, we should not go there */
 	if (wp_belongs_to_line(i, j, num2, dir2))
 		return 0;
 
+	/* we can ge fast if it's a 60deg angle and if we checked the
+	 * current point */
+	if (is_60deg(dir1, dir2))
+		return 0;
+
 	/* get next point */
 	if (wp_get_neigh(i, j, &i2, &j2, dir1) < 0) {
 		DEBUG(E_USER_STRAT, "%s(): cannot get neigh1",
@@ -184,7 +192,7 @@ static uint8_t clitoid_select_speed(uint8_t num1, uint8_t dir1,
 		return 1;
 	}
 
-	/* if (i2, j2) belongs to next line, check corn in opposition */
+	/* if (i2, j2) belongs to next line, check corns */
 	if (wp_belongs_to_line(i2, j2, num2, dir2)) {
 		if (corn_count_neigh(i2, j2) > 0)
 			return 1;
@@ -199,7 +207,7 @@ static uint8_t clitoid_select_speed(uint8_t num1, uint8_t dir1,
 		return 1;
 	}
 
-	/* if (i3, j3) belongs to next line, check corn in opposition */
+	/* if (i3, j3) belongs to next line, check corns */
 	if (wp_belongs_to_line(i3, j3, num2, dir2)) {
 		if (corn_count_neigh(i2, j2) > 0 ||
 		    corn_count_neigh(i3, j3) > 0)
@@ -307,7 +315,7 @@ static int8_t strat_calc_clitoid(uint8_t num1, uint8_t dir1,
 	}
 	/* hard turn, 120 deg */
 	else {
-		radius = 75;
+		radius = 120;//75;
 		if (diff_a_deg > 0)
 			beta_deg = 0;
 		else
@@ -316,11 +324,11 @@ static int8_t strat_calc_clitoid(uint8_t num1, uint8_t dir1,
 
 	clitoid_slow = clitoid_select_speed(num1, dir1, num2, dir2);
 	if (clitoid_slow) {
-		DEBUG(E_USER_STRAT, "slow clito\n");
+		DEBUG(E_USER_STRAT, "slow clito");
 		strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 	}
 	else {
-		DEBUG(E_USER_STRAT, "fast clito\n");
+		DEBUG(E_USER_STRAT, "fast clito");
 		strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 	}
 
@@ -373,12 +381,6 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2,
 
 	DEBUG(E_USER_STRAT, "clitoid finished");
 
-	/* XXX 600 -> cste */
-	/* XXX does not work, do better */
-/* 	if (err == 0 && d_speed < 600 && */
-/* 	    mainboard.traj.state == RUNNING_CLITOID_LINE) */
-/* 		strat_set_speed(600, SPEED_ANGLE_FAST); */
-
 	strat_rpack60 = 0;
 	strat_lpack60 = 0;
 	return err;