X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fhostsim%2Fcommands_mainboard.c;h=3b2d82b33ab3111eae48b49d0df3899656e0c276;hp=b07983b1995c211b3f021475b85b0a54a151754a;hb=9fdc9cd2902ed50ebefe0b3c9309d4f173d65e2a;hpb=36e85713ef7d1d2952cb09186cbc12e2a1598b67

diff --git a/projects/microb2010/tests/hostsim/commands_mainboard.c b/projects/microb2010/tests/hostsim/commands_mainboard.c
index b07983b..3b2d82b 100644
--- a/projects/microb2010/tests/hostsim/commands_mainboard.c
+++ b/projects/microb2010/tests/hostsim/commands_mainboard.c
@@ -2214,9 +2214,17 @@ static void cmd_test_parsed(void *parsed_result, void *data)
 {
 	struct cmd_test_result *res = parsed_result;
 	double d,a;
+	uint8_t err;
+
+	strat_reset_pos(1000, 500, 0);
 	strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
 	circle_get_da_speed_from_radius(&mainboard.traj, res->radius, &d, &a);
-	printf_P(PSTR("d=%2.2f a=%2.2f\r\n"), d, a);
+	trajectory_d_rel(&mainboard.traj, 1000);
+	err = WAIT_COND_OR_TRAJ_END(position_get_x_double(&mainboard.pos) > 1500, 0xFF);
+	if (err)
+		return;
+	strat_set_speed(d, a);
+	trajectory_d_a_rel(&mainboard.traj, 10000, 1000);
 }
 
 prog_char str_test_arg0[] = "test";