void strat_hardstop(void)
{
+ DEBUG(E_USER_STRAT, "strat_hardstop");
+
trajectory_hardstop(&mainboard.traj);
pid_reset(&mainboard.angle.pid);
pid_reset(&mainboard.distance.pid);
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;
strat_init();
err = strat_main();
- printf("coucou\n");
NOTICE(E_USER_STRAT, "Finished !! returned %s", get_err(err));
strat_exit();
}
double opp_x, opp_y;
#ifdef HOST_VERSION
+ return 0;
if (time_get_s() >= 12 && time_get_s() <= 30)
return 1;
#endif
+ return 0; /* XXX disabled */
+
if (!sensor_get(S_RCOB_WHITE))
return 0;