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new base mech plate
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
strat_corn.c
diff --git
a/projects/microb2010/mainboard/strat_corn.c
b/projects/microb2010/mainboard/strat_corn.c
index
48eff29
..
74dd8d1
100644
(file)
--- a/
projects/microb2010/mainboard/strat_corn.c
+++ b/
projects/microb2010/mainboard/strat_corn.c
@@
-315,7
+315,7
@@
static int8_t strat_calc_clitoid(uint8_t num1, uint8_t dir1,
}
/* hard turn, 120 deg */
else {
}
/* hard turn, 120 deg */
else {
- radius = 75;
+ radius =
120;//
75;
if (diff_a_deg > 0)
beta_deg = 0;
else
if (diff_a_deg > 0)
beta_deg = 0;
else
@@
-381,12
+381,6
@@
uint8_t line2line(uint8_t num1, uint8_t dir1, uint8_t num2,
DEBUG(E_USER_STRAT, "clitoid finished");
DEBUG(E_USER_STRAT, "clitoid finished");
- /* XXX 600 -> cste */
- /* XXX does not work, do better */
-/* if (err == 0 && d_speed < 600 && */
-/* mainboard.traj.state == RUNNING_CLITOID_LINE) */
-/* strat_set_speed(600, SPEED_ANGLE_FAST); */
-
strat_rpack60 = 0;
strat_lpack60 = 0;
return err;
strat_rpack60 = 0;
strat_lpack60 = 0;
return err;