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circuit strat, first version
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
strat_base.c
diff --git
a/projects/microb2010/mainboard/strat_base.c
b/projects/microb2010/mainboard/strat_base.c
index
1f3b6e5
..
6075271
100644
(file)
--- a/
projects/microb2010/mainboard/strat_base.c
+++ b/
projects/microb2010/mainboard/strat_base.c
@@
-103,6
+103,8
@@
const char *get_err(uint8_t err)
void strat_hardstop(void)
{
void strat_hardstop(void)
{
+ DEBUG(E_USER_STRAT, "strat_hardstop");
+
trajectory_hardstop(&mainboard.traj);
pid_reset(&mainboard.angle.pid);
pid_reset(&mainboard.distance.pid);
trajectory_hardstop(&mainboard.traj);
pid_reset(&mainboard.angle.pid);
pid_reset(&mainboard.distance.pid);
@@
-209,6
+211,11
@@
void strat_set_speed(uint16_t d, uint16_t a)
IRQ_UNLOCK(flags);
}
IRQ_UNLOCK(flags);
}
+void strat_set_acc(double d, double a)
+{
+ trajectory_set_acc(&mainboard.traj, d, a);
+}
+
void strat_get_speed(uint16_t *d, uint16_t *a)
{
uint8_t flags;
void strat_get_speed(uint16_t *d, uint16_t *a)
{
uint8_t flags;
@@
-312,7
+319,6
@@
void strat_start(void)
strat_init();
err = strat_main();
strat_init();
err = strat_main();
- printf("coucou\n");
NOTICE(E_USER_STRAT, "Finished !! returned %s", get_err(err));
strat_exit();
}
NOTICE(E_USER_STRAT, "Finished !! returned %s", get_err(err));
strat_exit();
}
@@
-344,9
+350,12
@@
uint8_t strat_obstacle(void)
double opp_x, opp_y;
#ifdef HOST_VERSION
double opp_x, opp_y;
#ifdef HOST_VERSION
+ return 0;
if (time_get_s() >= 12 && time_get_s() <= 30)
return 1;
#endif
if (time_get_s() >= 12 && time_get_s() <= 30)
return 1;
#endif
+ return 0; /* XXX disabled */
+
if (!sensor_get(S_RCOB_WHITE))
return 0;
if (!sensor_get(S_RCOB_WHITE))
return 0;