#define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
/* default acc */
-#define ACC_DIST 16.
+#define ACC_DIST 12.
#define ACC_ANGLE 16.
/* default speeds */
-#define SPEED_DIST_FAST 1500.
-#define SPEED_ANGLE_FAST 1000.
+#define SPEED_DIST_FAST 1200.
+#define SPEED_ANGLE_FAST 800.
#define SPEED_DIST_SLOW 500.
#define SPEED_ANGLE_SLOW 500.
#define SPEED_DIST_VERY_SLOW 200.
struct strat_conf {
uint8_t dump_enabled;
-#define STRAT_CONF_XXX 0x01
+ uint8_t opp_orange;
+ uint8_t orphan_tomato;
+
+ 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;
};
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);
#endif