From 5894a1a70f98504fee52e58f45f181aa684d99bf Mon Sep 17 00:00:00 2001 From: zer0 Date: Mon, 3 May 2010 17:25:33 +0200 Subject: [PATCH] trajectory optimizations --- projects/microb2010/mainboard/display.py | 2 + projects/microb2010/mainboard/main.c | 5 +- projects/microb2010/mainboard/strat.c | 137 +++++++------------- projects/microb2010/mainboard/strat.h | 2 + projects/microb2010/mainboard/strat_avoid.c | 41 +++--- projects/microb2010/mainboard/strat_corn.c | 85 +++++------- projects/microb2010/mainboard/strat_utils.h | 2 +- 7 files changed, 107 insertions(+), 167 deletions(-) diff --git a/projects/microb2010/mainboard/display.py b/projects/microb2010/mainboard/display.py index b508407..19ff022 100644 --- a/projects/microb2010/mainboard/display.py +++ b/projects/microb2010/mainboard/display.py @@ -278,12 +278,14 @@ def set_robot(): robot.axis = axis robot.size = (250, 320, ROBOT_HEIGHT) + robot_lspickle = 2 # XXX lspickle.pos = (tmp_x + (robot_lspickle*60) * math.cos((tmp_a+90)*math.pi/180), tmp_y + (robot_lspickle*60) * math.sin((tmp_a+90)*math.pi/180), ROBOT_HEIGHT/2) lspickle.axis = axis lspickle.size = (20, 320, 5) + robot_rspickle = 2 # XXX rspickle.pos = (tmp_x + (robot_rspickle*60) * math.cos((tmp_a-90)*math.pi/180), tmp_y + (robot_rspickle*60) * math.sin((tmp_a-90)*math.pi/180), ROBOT_HEIGHT/2) diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c index ce76583..eb549c5 100755 --- a/projects/microb2010/mainboard/main.c +++ b/projects/microb2010/mainboard/main.c @@ -298,8 +298,6 @@ int main(void) /* strat */ gen.logs[0] = E_USER_STRAT; gen.log_level = 5; - strat_db_init(); - test_strat_avoid(); /* strat-related event */ scheduler_add_periodical_event_priority(strat_event, NULL, @@ -315,6 +313,9 @@ int main(void) sei(); + strat_db_init(); + test_strat_avoid(); + printf_P(PSTR("\r\n")); printf_P(PSTR("Respect et robustesse.\r\n")); #ifndef HOST_VERSION diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c index 7ea7b88..a97ae1a 100644 --- a/projects/microb2010/mainboard/strat.c +++ b/projects/microb2010/mainboard/strat.c @@ -70,6 +70,8 @@ static volatile uint8_t strat_running = 0; static volatile uint8_t want_pack = 0; +volatile uint8_t strat_lpack60 = 0; +volatile uint8_t strat_rpack60 = 0; struct strat_conf strat_conf; /*************************************************************/ @@ -209,46 +211,48 @@ void strat_event(void *dummy) } /* control the cobboard mode for left spickle */ - if (lcob_near) { - if (get_cob_count() >= 5 || want_pack) { - if (strat_db.corn_table[lidx]->corn.color != I2C_COB_WHITE && - strat_db.corn_table[lidx]->corn.color != I2C_COB_BLACK) - i2c_cobboard_pack(I2C_LEFT_SIDE); + if (lcob_near && strat_db.corn_table[lidx]->present) { + if (get_cob_count() >= 5 || want_pack || strat_lpack60) { + /* nothing */ } else { - if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE) - i2c_cobboard_autoharvest(I2C_LEFT_SIDE); - else if (strat_db.corn_table[lidx]->corn.color == I2C_COB_BLACK) - i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE); + /* deploy spickle and harvest white ones */ + if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE) { + i2c_cobboard_autoharvest_nomove(I2C_LEFT_SIDE); + if (cobboard.status == I2C_COBBOARD_STATUS_LBUSY) + strat_db.corn_table[lidx]->present = 0; + } else - i2c_cobboard_deploy(I2C_LEFT_SIDE); + i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE); } } else { - if (get_cob_count() >= 5 || want_pack) + /* no cob near us, we can pack or deploy freely */ + if (get_cob_count() >= 5 || want_pack || strat_lpack60) i2c_cobboard_pack(I2C_LEFT_SIDE); else i2c_cobboard_deploy(I2C_LEFT_SIDE); } /* control the cobboard mode for right spickle */ - if (rcob_near) { - if (get_cob_count() >= 5 || want_pack) { - if (strat_db.corn_table[ridx]->corn.color != I2C_COB_WHITE && - strat_db.corn_table[ridx]->corn.color != I2C_COB_BLACK) - i2c_cobboard_pack(I2C_RIGHT_SIDE); + if (rcob_near && strat_db.corn_table[ridx]->present) { + if (get_cob_count() >= 5 || want_pack || strat_rpack60) { + /* nothing */ } else { - if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE) - i2c_cobboard_autoharvest(I2C_RIGHT_SIDE); - else if (strat_db.corn_table[ridx]->corn.color == I2C_COB_BLACK) - i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE); + /* deploy spickle and harvest white ones */ + if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE) { + i2c_cobboard_autoharvest_nomove(I2C_RIGHT_SIDE); + if (cobboard.status == I2C_COBBOARD_STATUS_RBUSY) + strat_db.corn_table[ridx]->present = 0; + } else - i2c_cobboard_deploy(I2C_RIGHT_SIDE); + i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE); } } else { - if (get_cob_count() >= 5 || want_pack) + /* no cob near us, we can pack or deploy freely */ + if (get_cob_count() >= 5 || want_pack || strat_rpack60) i2c_cobboard_pack(I2C_RIGHT_SIDE); else i2c_cobboard_deploy(I2C_RIGHT_SIDE); @@ -264,16 +268,26 @@ static uint8_t strat_harvest(void) return 0; } +/* must be called from a terminal line */ static uint8_t strat_eject(void) { uint8_t err; - //XXX return vals - strat_set_speed(600, SPEED_ANGLE_SLOW); - want_pack = 1; + /* go to eject point */ trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847)); - err = wait_traj_end(TRAJ_FLAGS_NO_NEAR); + err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5, + TRAJ_FLAGS_NO_NEAR); + if (err == 0) { + want_pack = 1; + strat_set_speed(600, SPEED_ANGLE_SLOW); + err = wait_traj_end(TRAJ_FLAGS_NO_NEAR); + } + + /* pack arms */ + strat_event_disable(); + i2c_cobboard_pack(I2C_LEFT_SIDE); + i2c_cobboard_pack(I2C_RIGHT_SIDE); /* ball ejection */ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT); @@ -284,11 +298,7 @@ static uint8_t strat_eject(void) strat_hardstop(); time_wait_ms(2000); - /* half turn */ - strat_event_disable(); - i2c_cobboard_pack(I2C_LEFT_SIDE); - i2c_cobboard_pack(I2C_RIGHT_SIDE); trajectory_a_rel(&mainboard.traj, COLOR_A(180)); err = wait_traj_end(END_INTR|END_TRAJ); @@ -317,8 +327,8 @@ static uint8_t strat_beginning(void) strat_set_speed(250, SPEED_ANGLE_FAST); #endif - // strat_set_speed(600, 60); /* OK */ - strat_set_speed(250, 28); /* OK */ + strat_set_speed(600, 60); /* OK */ + //strat_set_speed(250, 28); /* OK */ trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20)); err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj), @@ -327,7 +337,6 @@ static uint8_t strat_beginning(void) strat_set_acc(ACC_DIST, ACC_ANGLE); strat_set_speed(250, SPEED_ANGLE_SLOW); -#if 1 l1: DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count()); if (get_cob_count() >= 5) @@ -352,68 +361,14 @@ static uint8_t strat_beginning(void) goto l2; } -#else -/* strat_set_speed(600, SPEED_ANGLE_FAST); */ -/* err = line2line(0, LINE_UP, 3, LINE_R_DOWN); */ -/* err = line2line(3, LINE_R_DOWN, 2, LINE_R_UP); */ -/* err = line2line(2, LINE_R_UP, 2, LINE_R_DOWN); */ -/* err = line2line(2, LINE_R_DOWN, 3, LINE_R_UP); */ -/* err = line2line(3, LINE_R_UP, 5, LINE_UP); */ -/* err = line2line(5, LINE_UP, 2, LINE_L_DOWN); */ -/* err = line2line(2, LINE_L_DOWN, 1, LINE_L_UP); */ -/* err = line2line(1, LINE_L_UP, 1, LINE_L_DOWN); */ -/* err = line2line(1, LINE_L_DOWN, 0, LINE_DOWN); */ - - strat_set_speed(300, SPEED_ANGLE_FAST); - err = line2line(0, LINE_UP, 0, LINE_R_UP); - err = line2line(0, LINE_R_UP, 1, LINE_DOWN); - err = line2line(1, LINE_DOWN, 1, LINE_L_DOWN); - err = line2line(1, LINE_L_DOWN, 0, LINE_DOWN); - wait_ms(500); - strat_hardstop(); - return END_TRAJ; -#endif - strat_eject(); - strat_set_speed(250, SPEED_ANGLE_FAST); - -#if 0 - l4: - DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count()); - if (get_cob_count() >= 5) - strat_set_speed(600, SPEED_ANGLE_FAST); - - err = line2line(5, LINE_DOWN, 2, LINE_L_UP); - if (!TRAJ_SUCCESS(err)) { - strat_hardstop(); - time_wait_ms(2000); - goto l4; - } - - l5: - DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count()); - if (get_cob_count() >= 5) - strat_set_speed(600, SPEED_ANGLE_FAST); - - err = line2line(2, LINE_L_UP, 2, LINE_R_UP); - if (!TRAJ_SUCCESS(err)) { - strat_hardstop(); - time_wait_ms(2000); - goto l5; + while (1) { + strat_set_speed(250, SPEED_ANGLE_FAST); + strat_harvest_circuit(); + strat_eject(); } - DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count()); - if (get_cob_count() >= 5) - strat_set_speed(600, SPEED_ANGLE_FAST); -#else - strat_harvest_circuit(); -#endif - - WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100, - TRAJ_FLAGS_STD); - strat_eject(); - return END_TRAJ; } diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h index daf607c..3ad10bb 100644 --- a/projects/microb2010/mainboard/strat.h +++ b/projects/microb2010/mainboard/strat.h @@ -151,6 +151,8 @@ struct strat_conf { }; extern struct strat_conf strat_conf; +extern volatile uint8_t strat_lpack60; +extern volatile uint8_t strat_rpack60; /* in strat.c */ void strat_conf_dump(const char *caller); diff --git a/projects/microb2010/mainboard/strat_avoid.c b/projects/microb2010/mainboard/strat_avoid.c index cd54e6c..ff5dac3 100644 --- a/projects/microb2010/mainboard/strat_avoid.c +++ b/projects/microb2010/mainboard/strat_avoid.c @@ -262,7 +262,7 @@ int8_t get_path(const struct wp_coord *circuit, int8_t skipfirst=0; int8_t path_len = 0; - printf("face: %d\n", faceA); + printf_P(PSTR("face: %d\r\n"), faceA); if ( !faceA && circuit->i == 11 && circuit->j == 6) skipfirst=1; @@ -341,7 +341,7 @@ int16_t get_score(uint32_t wcorn_retrieved, uint32_t ucorn_retrieved, mask <<= 1UL; } - printf("get score: cob %d \n", n); + printf_P(PSTR("get score: cob %d \r\n"), n); /* score with tomato */ n = xget_ball_count(); mask = 1; @@ -355,7 +355,7 @@ int16_t get_score(uint32_t wcorn_retrieved, uint32_t ucorn_retrieved, mask <<= 1UL; } - printf("get score: ball %d \n", n); + printf_P(PSTR("get score: ball %d \r\n"), n); /* malus for long circuits */ score -= (len * 20); @@ -481,7 +481,7 @@ static void dump_circuit_wp(struct wp_line *circuit_wpline, int8_t len) if (len <= 0) return; for (i = 0; i < len; i ++) { - printf(PSTR("linenum %d dir %d\r\n"), circuit_wpline[i].line_num, + printf_P(PSTR("linenum %d dir %d\r\n"), circuit_wpline[i].line_num, circuit_wpline[i].dir); } @@ -547,6 +547,7 @@ uint8_t strat_harvest_circuit(void) void test_strat_avoid(void) { +#if 0 uint8_t i, j; const struct wp_coord *selected_circuit; int8_t selected_face; @@ -554,84 +555,84 @@ void test_strat_avoid(void) int8_t ret; i = 1; j = 1; - printf("========= i=%d, j=%d\r\n", i, j); + printf_P(PSTR("========= i=%d, j=%d\r\n"), i, j); ts = 0; bc = 0; cc = 0; - printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc); + printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc); browse_circuits(i, j, &selected_circuit, &selected_face); ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline); dump_circuit_wp(circuit_wpline, ret); ts = 0; bc = 3; cc = 0; - printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc); + printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc); browse_circuits(i, j, &selected_circuit, &selected_face); ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline); dump_circuit_wp(circuit_wpline, ret); ts = 0; bc = 4; cc = 0; - printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc); + printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc); browse_circuits(i, j, &selected_circuit, &selected_face); ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline); dump_circuit_wp(circuit_wpline, ret); ts = 0; bc = 3; cc = 5; - printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc); + printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc); browse_circuits(i, j, &selected_circuit, &selected_face); ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline); dump_circuit_wp(circuit_wpline, ret); ts = 0; bc = 4; cc = 5; - printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc); + printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc); browse_circuits(i, j, &selected_circuit, &selected_face); ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline); dump_circuit_wp(circuit_wpline, ret); ts = 80; bc = 0; cc = 0; - printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc); + printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc); browse_circuits(i, j, &selected_circuit, &selected_face); ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline); dump_circuit_wp(circuit_wpline, ret); i = 4; j = 3; - printf("========= i=%d, j=%d\r\n", i, j); + printf_P(PSTR("========= i=%d, j=%d\r\n"), i, j); ts = 0; bc = 0; cc = 0; - printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc); + printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc); browse_circuits(i, j, &selected_circuit, &selected_face); ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline); dump_circuit_wp(circuit_wpline, ret); ts = 0; bc = 3; cc = 0; - printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc); + printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc); browse_circuits(i, j, &selected_circuit, &selected_face); ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline); dump_circuit_wp(circuit_wpline, ret); ts = 80; bc = 0; cc = 0; - printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc); + printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc); browse_circuits(i, j, &selected_circuit, &selected_face); ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline); dump_circuit_wp(circuit_wpline, ret); i = 11; j = 6; - printf("========= i=%d, j=%d\r\n", i, j); + printf_P(PSTR("========= i=%d, j=%d\r\n"), i, j); ts = 0; bc = 0; cc = 0; - printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc); + printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc); browse_circuits(i, j, &selected_circuit, &selected_face); ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline); dump_circuit_wp(circuit_wpline, ret); ts = 0; bc = 3; cc = 0; - printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc); + printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc); browse_circuits(i, j, &selected_circuit, &selected_face); ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline); dump_circuit_wp(circuit_wpline, ret); ts = 80; bc = 0; cc = 0; - printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc); + printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc); browse_circuits(i, j, &selected_circuit, &selected_face); ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline); dump_circuit_wp(circuit_wpline, ret); - +#endif } diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c index 8f8503f..3ec6a2c 100644 --- a/projects/microb2010/mainboard/strat_corn.c +++ b/projects/microb2010/mainboard/strat_corn.c @@ -98,39 +98,14 @@ int8_t corn_is_near(uint8_t *corn_idx, uint8_t side) } /* - * - send the correct commands to the spickles - * - return 1 if we need to stop (cobboard is stucked) -*/ -static uint8_t handle_spickles(void) + * return true if clitoid started + */ +static uint8_t clitoid_started(void) { - return 0; -#if 0 - int8_t corn_idx; - - if (!corn_is_near(&corn_idx, I2C_LEFT_SIDE)) - i2c_cobboard_mode_deploy(I2C_LEFT_SIDE); - else { - if (corn_table[corn_idx] == TYPE_WHITE_CORN) - i2c_cobboard_mode_harvest(I2C_LEFT_SIDE); - else - i2c_cobboard_mode_pack(I2C_LEFT_SIDE); - } -/* printf("%d %d\n", corn_idx, corn_table[corn_idx]); */ -/* time_wait_ms(100); */ - - if (!corn_is_near(&corn_idx, I2C_RIGHT_SIDE)) - i2c_cobboard_mode_deploy(I2C_RIGHT_SIDE); - else { - if (corn_table[corn_idx] == TYPE_WHITE_CORN) - i2c_cobboard_mode_harvest(I2C_RIGHT_SIDE); - else - i2c_cobboard_mode_pack(I2C_RIGHT_SIDE); - } - - return 0; -#endif + return trajectory_get_state(&mainboard.traj) == RUNNING_CLITOID_CURVE; } +/* XXX passer les flags de traj */ uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2, uint8_t dir2) { @@ -141,7 +116,6 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, line_t ll1, ll2; point_t p; uint8_t err; - uint16_t a_speed, d_speed; int8_t ret; /* convert to 2 points */ @@ -175,13 +149,15 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, /* printf_P(PSTR("diff_a_deg=%2.2f\r\n"), diff_a_deg_abs); */ /* printf_P(PSTR("inter=%2.2f,%2.2f\r\n"), p.x, p.y); */ + /* small angle, 60 deg */ if (diff_a_deg_abs < 70.) { - radius = 200; + radius = 150; if (diff_a_deg > 0) - beta_deg = 40; + beta_deg = 0; else - beta_deg = -40; + beta_deg = 0; } + /* double 90 deg for half turn -- not used */ else if (diff_a_deg_abs < 100.) { radius = 100; if (diff_a_deg > 0) @@ -189,12 +165,13 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, else beta_deg = -40; } + /* hard turn, 120 deg */ else { - radius = 120; + radius = 75; if (diff_a_deg > 0) - beta_deg = 60; + beta_deg = 0; else - beta_deg = -60; + beta_deg = 0; } /* XXX check return value !! */ @@ -205,22 +182,24 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, if (ret < 0) DEBUG(E_USER_STRAT, "clitoid failed"); - /* disabled */ - if (0) { - err = 0; - while (err == 0) { - err = WAIT_COND_OR_TRAJ_END(handle_spickles(), 0xFF); - if (err == 0) { - /* cobboard is stucked */ - trajectory_hardstop(&mainboard.traj); - return err; /* XXX do something */ - } - err = test_traj_end(0xFF); - } + /* XXX what to do if cobboard is stucked */ + + err = WAIT_COND_OR_TRAJ_END(clitoid_started(), 0xFF); + DEBUG(E_USER_STRAT, "clitoid started err=%d diff_a_deg_abs=%2.2f diff_a_deg=%2.2f", + err, diff_a_deg_abs, diff_a_deg); + + /* when clitoid starts and angle is 60 deg, pack external + * spickle */ + if (diff_a_deg_abs < 70. && err == 0) { + if (diff_a_deg > 0) + strat_rpack60 = 1; + else + strat_lpack60 = 1; } + if (err == 0) + err = wait_traj_end(0xFF); - err = WAIT_COND_OR_TRAJ_END(get_cob_count() == 5, 0xFF); - strat_get_speed(&d_speed, &a_speed); + DEBUG(E_USER_STRAT, "clitoid finished"); /* XXX 600 -> cste */ /* XXX does not work, do better */ @@ -228,8 +207,8 @@ uint8_t line2line(uint8_t num1, uint8_t dir1, /* mainboard.traj.state == RUNNING_CLITOID_LINE) */ /* strat_set_speed(600, SPEED_ANGLE_FAST); */ - err = wait_traj_end(0xFF); - + strat_rpack60 = 0; + strat_lpack60 = 0; return err; } diff --git a/projects/microb2010/mainboard/strat_utils.h b/projects/microb2010/mainboard/strat_utils.h index d6bea8f..7bb43a7 100644 --- a/projects/microb2010/mainboard/strat_utils.h +++ b/projects/microb2010/mainboard/strat_utils.h @@ -31,7 +31,7 @@ struct xy_point { ({ \ uint8_t __err = 0; \ while ( (! (cond)) && (__err == 0)) { \ - __err = test_traj_end(TRAJ_FLAGS_NO_NEAR); \ + __err = test_traj_end(mask); \ } \ __err; \ }) \ -- 2.39.5