cobboard.cob_count = 5;
if (time_get_s() == 16)
cobboard.cob_count = 0;
- if (time_get_s() == 25)
- cobboard.cob_count = 5;
#endif
/* detect cob on left side */
TRAJ_FLAGS_NO_NEAR);
if (err == 0) {
want_pack = 1;
- strat_set_speed(600, SPEED_ANGLE_SLOW);
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
}
TRAJ_FLAGS_STD);
strat_set_acc(ACC_DIST, ACC_ANGLE);
- strat_set_speed(250, SPEED_ANGLE_SLOW);
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
l1:
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(0, LINE_UP, 2, LINE_R_DOWN);
+ err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err)) {
strat_hardstop();
time_wait_ms(2000);
l2:
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_R_DOWN, 2, LINE_R_UP);
+ err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err)) {
strat_hardstop();
time_wait_ms(2000);
strat_eject();
while (1) {
- strat_set_speed(250, SPEED_ANGLE_SLOW);
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
strat_harvest_circuit();
strat_eject();
}