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fix rasta condition
author
zer0
<zer0@carbon.local>
Mon, 3 May 2010 16:24:23 +0000
(18:24 +0200)
committer
zer0
<zer0@carbon.local>
Mon, 3 May 2010 16:24:23 +0000
(18:24 +0200)
modules/devices/robot/trajectory_manager/trajectory_manager_core.c
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projects/microb2010/mainboard/strat.c
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projects/microb2010/mainboard/strat.h
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diff --git
a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index
e4f2df6
..
e3311a9
100644
(file)
--- a/
modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/
modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@
-318,8
+318,12
@@
uint8_t trajectory_distance_finished(struct trajectory *traj)
* distance. */
uint8_t trajectory_finished(struct trajectory *traj)
{
* distance. */
uint8_t trajectory_finished(struct trajectory *traj)
{
- return trajectory_angle_finished(traj) &&
+ uint8_t flags, ret;
+ IRQ_LOCK(flags);
+ ret = trajectory_angle_finished(traj) &&
trajectory_distance_finished(traj);
trajectory_distance_finished(traj);
+ IRQ_UNLOCK(flags);
+ return ret;
}
/** return true if traj is nearly finished */
}
/** return true if traj is nearly finished */
diff --git
a/projects/microb2010/mainboard/strat.c
b/projects/microb2010/mainboard/strat.c
index
a97ae1a
..
1585734
100644
(file)
--- a/
projects/microb2010/mainboard/strat.c
+++ b/
projects/microb2010/mainboard/strat.c
@@
-320,13
+320,6
@@
static uint8_t strat_beginning(void)
uint8_t err;
strat_set_acc(ACC_DIST, ACC_ANGLE);
uint8_t err;
strat_set_acc(ACC_DIST, ACC_ANGLE);
-#ifdef HOST_VERSION
- strat_set_speed(600, SPEED_ANGLE_FAST);
-#else
- /* 250 */
- strat_set_speed(250, SPEED_ANGLE_FAST);
-#endif
-
strat_set_speed(600, 60); /* OK */
//strat_set_speed(250, 28); /* OK */
strat_set_speed(600, 60); /* OK */
//strat_set_speed(250, 28); /* OK */
@@
-364,7
+357,7
@@
static uint8_t strat_beginning(void)
strat_eject();
while (1) {
strat_eject();
while (1) {
- strat_set_speed(250, SPEED_ANGLE_
FAST
);
+ strat_set_speed(250, SPEED_ANGLE_
SLOW
);
strat_harvest_circuit();
strat_eject();
}
strat_harvest_circuit();
strat_eject();
}
diff --git
a/projects/microb2010/mainboard/strat.h
b/projects/microb2010/mainboard/strat.h
index
3ad10bb
..
94433c1
100644
(file)
--- a/
projects/microb2010/mainboard/strat.h
+++ b/
projects/microb2010/mainboard/strat.h
@@
-131,8
+131,8
@@
#define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
/* default acc */
#define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
/* default acc */
-#define ACC_DIST 1
5
.
-#define ACC_ANGLE 1
5
.
+#define ACC_DIST 1
6
.
+#define ACC_ANGLE 1
6
.
/* default speeds */
#define SPEED_DIST_FAST 2500.
/* default speeds */
#define SPEED_DIST_FAST 2500.