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traj update
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
strat_base.h
diff --git
a/projects/microb2010/mainboard/strat_base.h
b/projects/microb2010/mainboard/strat_base.h
index
6ff0666
..
908a2f6
100644
(file)
--- a/
projects/microb2010/mainboard/strat_base.h
+++ b/
projects/microb2010/mainboard/strat_base.h
@@
-26,8
+26,9
@@
#define END_OBSTACLE 8 /* There is an obstacle in front of us */
#define END_ERROR 16 /* Cannot do the command */
#define END_INTR 32 /* interrupted by user */
#define END_OBSTACLE 8 /* There is an obstacle in front of us */
#define END_ERROR 16 /* Cannot do the command */
#define END_INTR 32 /* interrupted by user */
-#define END_TIMER 64 /* we don't a lot of time */
-#define END_RESERVED 128 /* reserved */
+#define END_TIMER 64 /* we don't have a lot of time */
+#define END_RESERVED 128 /* reserved... be careful, sometimes error is
+ coded on a int8_t */
/* only valid after a END_OBSTACLE */
struct opponent_obstacle {
/* only valid after a END_OBSTACLE */
struct opponent_obstacle {
@@
-65,6
+66,7
@@
uint8_t strat_obstacle(void);
/* set/get user strat speed */
void strat_set_speed(uint16_t d, uint16_t a);
void strat_get_speed(uint16_t *d, uint16_t *a);
/* set/get user strat speed */
void strat_set_speed(uint16_t d, uint16_t a);
void strat_get_speed(uint16_t *d, uint16_t *a);
+void strat_set_acc(double d, double a);
/* when user type ctrl-c we can interrupt traj */
void interrupt_traj(void);
/* when user type ctrl-c we can interrupt traj */
void interrupt_traj(void);