french cup + idf cup

[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 5a819c9..90762a6 100644 (file)
--- a/projects/microb2010/mainboard/strat_base.c
+++ b/projects/microb2010/mainboard/strat_base.c
@@ -456,8 +456,8 @@ uint8_t strat_obstacle(void)
        }
 
        /* opponent is in front of us */
-       if ((mainboard.speed_d >= 0 && opp_d < 500 && (opp_a > 315 || opp_a < 45)) ||
-           (mainboard.speed_d >= 0 && opp_d < 650 && (opp_a > 330 || opp_a < 30))) {
+       if ((mainboard.speed_d >= 0 && opp_d < 600 && (opp_a > 315 || opp_a < 45)) ||
+           (mainboard.speed_d >= 0 && opp_d < 800 && (opp_a > 330 || opp_a < 30))) {
                DEBUG(E_USER_STRAT, "opponent front d=%d, a=%d "
                      "xrel=%d yrel=%d (speed_d=%d)",
                      opp_d, opp_a, x_rel, y_rel, mainboard.speed_d);
@@ -465,8 +465,8 @@ uint8_t strat_obstacle(void)
                return 1;
        }
        /* opponent is behind us */
-       if ((mainboard.speed_d < 0 && opp_d < 500 && (opp_a < 225 && opp_a > 135)) ||
-           (mainboard.speed_d < 0 && opp_d < 650 && (opp_a < 210 && opp_a > 150))) {
+       if ((mainboard.speed_d < 0 && opp_d < 600 && (opp_a < 225 && opp_a > 135)) ||
+           (mainboard.speed_d < 0 && opp_d < 800 && (opp_a < 210 && opp_a > 150))) {
                DEBUG(E_USER_STRAT, "opponent behind d=%d, a=%d xrel=%d yrel=%d",
                      opp_d, opp_a, x_rel, y_rel);
                sensor_obstacle_disable();