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Diffstat (limited to 'n/asserv/src/taz.c')
-rw-r--r--n/asserv/src/taz.c11
1 files changed, 6 insertions, 5 deletions
diff --git a/n/asserv/src/taz.c b/n/asserv/src/taz.c
index e8f44cc..1fcae4d 100644
--- a/n/asserv/src/taz.c
+++ b/n/asserv/src/taz.c
@@ -57,7 +57,7 @@ static const uint16_t taz_start_y_16 = taz_scale * 450 / 2;
static const uint16_t taz_before_bridge_16 = taz_scale * 1200;
static const uint16_t taz_brige_interval_16 = taz_scale * 150;
//#define OR2 (1500 + 22 + 600 + 22)
-#define OR2 (1500 + 600)
+#define OR2 (1500 + 600 + 22)
static const uint16_t taz_after_bridge_16[4] =
{
taz_scale * (OR2),
@@ -122,7 +122,7 @@ taz_state_0 (void)
/* Recalage. */
speed_restart ();
postrack_y = -taz_rear_32;
- postrack_a = 0x00c00000;
+ postrack_a = 0x00bf0000;
/* On avance juste qu'à l'y de départ. */
goto_linear (taz_start_y_16 - taz_rear_16);
}
@@ -150,7 +150,7 @@ taz_state_0 (void)
/* Recalage. */
speed_restart ();
postrack_x = taz_rear_32;
- postrack_a = 0;
+ postrack_a = 0x00ff0000;
}
break;
case 6:
@@ -236,7 +236,7 @@ taz_state_1 (void)
/* Recalage. */
speed_restart ();
postrack_y = -taz_rear_32;
- postrack_a = 0x00c00000;
+ postrack_a = 0x00be0000;
}
// no break;
case 6:
@@ -246,7 +246,8 @@ taz_state_1 (void)
/* On avance juste qu'à l'y de traversée de pont. */
goto_linear (taz_start_y_16
+ taz_pont * taz_brige_interval_16
- + (postrack_y >> 8));
+ + (postrack_y >> 8)
+ + (taz_pont == 0 ? 15 * taz_scale : 0));
}
break;
case 7: