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;
/* start the strat */
void strat_start(void)
{
- int8_t i;
uint8_t err;
strat_preinit();
+#ifndef HOST_VERSION
/* if start sw not plugged */
if (sensor_get(S_START_SWITCH)) {
+ int8_t i;
+
printf_P(PSTR("No start switch, press a key or plug it\r\n"));
/* while start sw not plugged */
/* while start sw plugged */
while (!sensor_get(S_START_SWITCH));
}
+#endif
strat_init();
err = strat_main();
/* return true if we have to brake due to an obstacle */
uint8_t strat_obstacle(void)
{
+#if 0
int16_t x_rel, y_rel;
int16_t opp_x, opp_y, opp_d, opp_a;
opponent_obstacle.y = opp_y;
opponent_obstacle.d = opp_d;
opponent_obstacle.a = opp_a;
+#else /* belgium cup only */
+ int16_t x_rel, y_rel;
+ int16_t opp_d, opp_a;
+ 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;
+
+ opp_a = 0;
+ opp_d = 300;
+
+ rel_da_to_abs_xy(opp_d, RAD(opp_a), &opp_x, &opp_y);
+ if (!is_in_area(opp_x, opp_y, 250))
+ return 0;
+#endif
/* sensor are temporarily disabled */
if (sensor_obstacle_is_disabled())