DO_POS | DO_BD | DO_POWER;
strat_db_init();
+ strat_conf.prev_wait_obstacle = -5;
strat_conf_dump(__FUNCTION__);
strat_db_dump(__FUNCTION__);
}
return;
printf_P(PSTR("-- conf --\r\n"));
- printf_P(PSTR("opp_orange = %d\n"), strat_conf.opp_orange);
- printf_P(PSTR("orphan_tomato = %d\n"), strat_conf.orphan_tomato);
printf_P(PSTR("our_orange = %s\n"),
(strat_conf.flags & STRAT_CONF_OUR_ORANGE) ? "y":"n");
+ printf_P(PSTR("wait_obstacle = %s\n"),
+ (strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE) ? "y":"n");
+ printf_P(PSTR("opp_orange = %d\n"), strat_conf.opp_orange);
+ printf_P(PSTR("orphan_tomato = %d\n"), strat_conf.orphan_tomato);
}
void strat_event_enable(void)
strat_set_acc(ACC_DIST, ACC_ANGLE);
strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+ l1:
err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
+ if (err == END_OBSTACLE &&
+ strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
+ time_get_s() > strat_conf.prev_wait_obstacle + 5) {
+ strat_conf.prev_wait_obstacle = time_get_s();
+ time_wait_ms(2000);
+ goto l1;
+ }
if (!TRAJ_SUCCESS(err))
return err;
+ l2:
err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
+ if (err == END_OBSTACLE &&
+ strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
+ time_get_s() > strat_conf.prev_wait_obstacle + 5) {
+ strat_conf.prev_wait_obstacle = time_get_s();
+ time_wait_ms(2000);
+ goto l2;
+ }
if (!TRAJ_SUCCESS(err)) {
return err;
}