+/* function called when cmd_test is parsed successfully */
+static void subtraj_test(void)
+{
+#ifdef HOST_VERSION
+ strat_reset_pos(400, 400, 90);
+ mainboard.angle.on = 1;
+ mainboard.distance.on = 1;
+#endif
+ printf_P(PSTR("%s()\r\n"), __FUNCTION__);
+ while (!cmdline_keypressed()) {
+ /****** PASS1 */
+
+#define DIST_HARD_TURN 260
+#define RADIUS_HARD_TURN 100
+#define DIST_EASY_TURN 190
+#define RADIUS_EASY_TURN 190
+#define DIST_HALF_TURN 225
+#define RADIUS_HALF_TURN 130
+
+ /* hard turn */
+ line2line(375, 597, 375, 1847,
+ 375, 1847, 1050, 1472,
+ RADIUS_HARD_TURN, DIST_HARD_TURN);
+
+ /* easy left and easy right !*/
+ line2line(825, 1596, 1050, 1472,
+ 1050, 1472, 1500, 1722,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+ line2line(1050, 1472, 1500, 1722,
+ 1500, 1722, 2175, 1347,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+ line2line(1500, 1722, 2175, 1347,
+ 2175, 1347, 2175, 847,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+
+ /* half turns */
+ halfturn(2175, 1347, 2175, 722,
+ 2625, 722, 2625, 1597,
+ RADIUS_HALF_TURN, DIST_HALF_TURN, 1.);
+ halfturn(2625, 847, 2625, 1722,
+ 2175, 1722, 2175, 1097,
+ RADIUS_HALF_TURN, DIST_HALF_TURN, 1.);
+
+ /* easy turns */
+ line2line(2175, 1597, 2175, 1097,
+ 2175, 1097, 1500, 722,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+ line2line(2175, 1097, 1500, 722,
+ 1500, 722, 1050, 972,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+ line2line(1500, 722, 1050, 972,
+ 1050, 972, 375, 597,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+
+ /* hard turn */
+ line2line(1050, 972, 375, 597,
+ 375, 597, 375, 1097,
+ RADIUS_HARD_TURN, DIST_HARD_TURN);
+
+ /****** PASS2 */
+
+ /* easy turn */
+ line2line(375, 597, 375, 1097,
+ 375, 1097, 1050, 1472,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+
+ /* hard turn */
+ line2line(375, 1097, 1050, 1472,
+ 1050, 1472, 375, 1847,
+ RADIUS_HARD_TURN, DIST_HARD_TURN);
+
+ /* hard turn */
+ line2line(1050, 1472, 375, 1847,
+ 375, 1847, 375, 1347,
+ RADIUS_HARD_TURN, DIST_HARD_TURN);
+
+ /* easy turn */
+ line2line(375, 1847, 375, 1347,
+ 375, 1347, 1050, 972,
+ RADIUS_EASY_TURN, DIST_EASY_TURN);
+
+ /* hard turn */
+ line2line(375, 1347, 1050, 972,
+ 1050, 972, 375, 597,
+ RADIUS_HARD_TURN, DIST_HARD_TURN);
+
+ /* hard turn */
+ line2line(1050, 972, 375, 597,
+ 375, 597, 375, 1847,
+ RADIUS_HARD_TURN, DIST_HARD_TURN);