better movements

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

diff --git a/projects/microb2010/mainboard/strat_base.c b/projects/microb2010/mainboard/strat_base.c
index 1f3b6e5..6075271 100644 (file)
--- a/projects/microb2010/mainboard/strat_base.c
+++ b/projects/microb2010/mainboard/strat_base.c
@@ -103,6 +103,8 @@ const char *get_err(uint8_t err)
 
 void strat_hardstop(void)
 {
+       DEBUG(E_USER_STRAT, "strat_hardstop");
+
        trajectory_hardstop(&mainboard.traj);
        pid_reset(&mainboard.angle.pid);
        pid_reset(&mainboard.distance.pid);
@@ -209,6 +211,11 @@ void strat_set_speed(uint16_t d, uint16_t a)
        IRQ_UNLOCK(flags);
 }
 
+void strat_set_acc(double d, double a)
+{
+       trajectory_set_acc(&mainboard.traj, d, a);
+}
+
 void strat_get_speed(uint16_t *d, uint16_t *a)
 {
        uint8_t flags;
@@ -312,7 +319,6 @@ void strat_start(void)
 
        strat_init();
        err = strat_main();
-       printf("coucou\n");
        NOTICE(E_USER_STRAT, "Finished !! returned %s", get_err(err));
        strat_exit();
 }
@@ -344,9 +350,12 @@ uint8_t strat_obstacle(void)
        double opp_x, opp_y;
 
 #ifdef HOST_VERSION
+       return 0;
        if (time_get_s() >= 12 && time_get_s() <= 30)
                return 1;
 #endif
+       return 0; /* XXX disabled */
+
        if (!sensor_get(S_RCOB_WHITE))
                return 0;