CatPot 2015-2016 / Mbed 2 deprecated CatPot_2v10_T_Main

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Dependencies:   mbed AQM1602 HMC6352 PID

Diff: main_processing/strategy/strategy.cpp

Revision:
31:745a775cfc20
Parent:
30:5998ba42237e
Child:
32:367b16d69a32
--- a/main_processing/strategy/strategy.cpp	Wed Mar 23 11:25:22 2016 +0000
+++ b/main_processing/strategy/strategy.cpp	Wed Mar 23 13:01:43 2016 +0000
@@ -374,7 +374,7 @@
             //sys.HomeStayFlag[X_PING]=1;
         }
         //y
-        if((data.ping[B_PING]>40)&&(1)&&(sys.HomeStayFlag[Y_PING]==0)){
+        if((data.ping[B_PING]>60)&&(1)&&(sys.HomeStayFlag[Y_PING]==0)){
             ir_y = -1;
         }
         else{
@@ -386,10 +386,17 @@
         ir_x = (ir_x_dir + ir_x_turn);
         ir_y = (ir_y_dir + ir_y_turn);
     }
+    if((sys.HomeBlind==0)&&(data.irNotice==IR_FAR)){
+        ir_pow_x = ir_pow_y = 25;
+        if(ir_y>0) ir_y=0;
+        if((data.ping[B_PING]>60)&&(1)){
+            ir_y = -1;
+        }
+    }
     if(
         (sys.DefenceFlag==1)&&
         (ir_y>0)&&
-        (data.ping[B_PING]>40)&&
+        (data.ping[B_PING]>60)&&
         (data.ping[B_PING]<225)&&
         (sys.BackHomeFlag==0)
     ){