work on trajectory, update cobboard and ballboard too

[aversive.git] / projects / microb2010 / mainboard / strat.h

diff --git a/projects/microb2010/mainboard/strat.h b/projects/microb2010/mainboard/strat.h
index e92ff4f755afd7c07a2d65f99a8afc3a48f17d6b..53d9192d31caeecccad3d8a0722ae5948cd22406 100644 (file)
--- a/projects/microb2010/mainboard/strat.h
+++ b/projects/microb2010/mainboard/strat.h
@@ -69,13 +69,17 @@
 #define TRAJ_FLAGS_NO_NEAR_NO_TIMER (END_TRAJ|END_BLOCKING|END_OBSTACLE|END_INTR)
 #define TRAJ_FLAGS_SMALL_DIST (END_TRAJ|END_BLOCKING|END_INTR)
 
+/* default acc */
+#define ACC_DIST  5.
+#define ACC_ANGLE 5.
+
 /* default speeds */
-#define SPEED_DIST_FAST 2500
-#define SPEED_ANGLE_FAST 2000
-#define SPEED_DIST_SLOW 1000
-#define SPEED_ANGLE_SLOW 1000
-#define SPEED_DIST_VERY_SLOW 400
-#define SPEED_ANGLE_VERY_SLOW 400
+#define SPEED_DIST_FAST 2500.
+#define SPEED_ANGLE_FAST 2000.
+#define SPEED_DIST_SLOW 1000.
+#define SPEED_ANGLE_SLOW 1000.
+#define SPEED_DIST_VERY_SLOW 400.
+#define SPEED_ANGLE_VERY_SLOW 400.
 
 /* strat infos structures */