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another beginning
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
strat.h
diff --git
a/projects/microb2010/mainboard/strat.h
b/projects/microb2010/mainboard/strat.h
index
3305f1f
..
e8572fc
100644
(file)
--- a/
projects/microb2010/mainboard/strat.h
+++ b/
projects/microb2010/mainboard/strat.h
@@
-135,8
+135,8
@@
#define ACC_ANGLE 16.
/* default speeds */
#define ACC_ANGLE 16.
/* default speeds */
-#define SPEED_DIST_FAST 1
5
00.
-#define SPEED_ANGLE_FAST
10
00.
+#define SPEED_DIST_FAST 1
2
00.
+#define SPEED_ANGLE_FAST
8
00.
#define SPEED_DIST_SLOW 500.
#define SPEED_ANGLE_SLOW 500.
#define SPEED_DIST_VERY_SLOW 200.
#define SPEED_DIST_SLOW 500.
#define SPEED_ANGLE_SLOW 500.
#define SPEED_DIST_VERY_SLOW 200.
@@
-153,7
+153,11
@@
struct strat_conf {
uint8_t opp_orange;
uint8_t orphan_tomato;
uint8_t opp_orange;
uint8_t orphan_tomato;
-#define STRAT_CONF_OUR_ORANGE 0x01
+ int8_t prev_wait_obstacle;
+
+#define STRAT_CONF_OUR_ORANGE 0x01
+#define STRAT_CONF_WAIT_OBSTACLE 0x02
+#define STRAT_CONF_STRAIGHT_BEGIN 0x04
uint8_t flags;
};
uint8_t flags;
};
@@
-174,6
+178,7
@@
uint8_t strat_main(void);
void strat_event(void *dummy);
void strat_event_enable(void);
void strat_event_disable(void);
void strat_event(void *dummy);
void strat_event_enable(void);
void strat_event_disable(void);
+uint8_t prepare_hill(uint8_t orange_color, int16_t posx);
uint8_t run_to_the_hills(uint8_t orange_color);
uint8_t get_orphan_tomatoes(void);
uint8_t run_to_the_hills(uint8_t orange_color);
uint8_t get_orphan_tomatoes(void);