new base mech plate

[aversive.git] / projects / microb2010 / mainboard / commands_traj.c

diff --git a/projects/microb2010/mainboard/commands_traj.c b/projects/microb2010/mainboard/commands_traj.c
index e519d17..92ab9a0 100644 (file)
--- a/projects/microb2010/mainboard/commands_traj.c
+++ b/projects/microb2010/mainboard/commands_traj.c
@@ -823,6 +823,7 @@ static void auto_position(void)
        interrupt_traj_reset();
        strat_get_speed(&old_spdd, &old_spda);
        strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
+       strat_set_acc(3, 3);
 
        err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
        if (err == END_INTR)
@@ -832,16 +833,18 @@ static void auto_position(void)
                        COLOR_A(-90));
        strat_hardstop();
 
-       trajectory_d_rel(&mainboard.traj, -180);
+       trajectory_d_rel(&mainboard.traj, -70);
        err = wait_traj_end(END_INTR|END_TRAJ);
        if (err == END_INTR)
                goto intr;
 
+       time_wait_ms(250);
        trajectory_a_rel(&mainboard.traj, COLOR_A(-90));
        err = wait_traj_end(END_INTR|END_TRAJ);
        if (err == END_INTR)
                goto intr;
 
+       time_wait_ms(250);
        err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
        if (err == END_INTR)
                goto intr;
@@ -850,17 +853,17 @@ static void auto_position(void)
                        180);
        strat_hardstop();
 
-       trajectory_d_rel(&mainboard.traj, -170);
+       trajectory_d_rel(&mainboard.traj, -80);
        err = wait_traj_end(END_INTR|END_TRAJ);
        if (err == END_INTR)
                goto intr;
-       wait_ms(100);
+       time_wait_ms(250);
 
-       trajectory_a_rel(&mainboard.traj, COLOR_A(-110));
+       trajectory_a_rel(&mainboard.traj, COLOR_A(-135));
        err = wait_traj_end(END_INTR|END_TRAJ);
        if (err == END_INTR)
                goto intr;
-       wait_ms(100);
+       time_wait_ms(250);
 
        strat_set_speed(old_spdd, old_spda);
        return;