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cup1
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
strat.c
diff --git
a/projects/microb2010/mainboard/strat.c
b/projects/microb2010/mainboard/strat.c
index
64562f5
..
7f7b9d9
100644
(file)
--- a/
projects/microb2010/mainboard/strat.c
+++ b/
projects/microb2010/mainboard/strat.c
@@
-501,6
+501,7
@@
static uint8_t strat_eject(void)
/* ball ejection */
if (get_ball_count() > 0) {
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
/* ball ejection */
if (get_ball_count() > 0) {
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+ time_wait_ms(300);
trajectory_a_abs(&mainboard.traj, COLOR_A(70));
err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err))
trajectory_a_abs(&mainboard.traj, COLOR_A(70));
err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err))
@@
-517,6
+518,10
@@
static uint8_t strat_eject(void)
2000);
#endif
}
2000);
#endif
}
+ else {
+ /* to pack spickles */
+ time_wait_ms(300);
+ }
if (get_cob_count() > 0) {
/* half turn */
if (get_cob_count() > 0) {
/* half turn */
@@
-904,7
+909,12
@@
uint8_t run_to_the_hills(uint8_t orange_color)
strat_hardstop();
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
strat_hardstop();
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
- time_wait_ms(1800);
+ time_wait_ms(1100);
+
+ trajectory_d_rel(&mainboard.traj, 15);
+ time_wait_ms(400);
+ strat_hardstop();
+ time_wait_ms(200);
/* reach top, go down */
trajectory_d_rel(&mainboard.traj, -HILL_LEN);
/* reach top, go down */
trajectory_d_rel(&mainboard.traj, -HILL_LEN);