2 * competition.cc 2010/04/30
4 * Robot's control program intended for homologation (approval phase) on Eurobot 2009.
6 * Copyright: (c) 2009 - 2010 CTU Dragons
7 * CTU FEE - Department of Control Engineering
21 #include <movehelper.h>
28 #include "corns_configs.h"
29 #include "actuators.h"
30 #include "match-timing.h"
31 #include "eb2010misc.h"
32 #include "common-states.h"
39 if (rv) error(1, errno, "robot_init() returned %d\n", rv);
41 robot.obstacle_avoidance_enabled = true;
43 robot.fsm.main.debug_states = 1;
44 robot.fsm.motion.debug_states = 1;
45 //robot.fsm.act.debug_states = 1;
47 //robot.fsm.main.state = &fsm_state_main_start_opp_corn;
48 //robot.fsm.main.state = &fsm_state_main_start_opp_oranges;
49 robot.fsm.main.state = &fsm_state_main_start_six_oranges;
51 //robot.fsm.main.transition_callback = trans_callback;
52 //robot.fsm.motion.transition_callback = move_trans_callback;
54 tcJerk = trajectoryConstraintsDefault;
58 tcFast = trajectoryConstraintsDefault;
62 tcSlow = trajectoryConstraintsDefault;
65 tcVerySlow = trajectoryConstraintsDefault;
66 tcVerySlow.maxv = 0.05;
67 tcVerySlow.maxacc = 0.05;
70 if (rv) error(1, errno, "robot_start() returned %d\n", rv);
77 /************************************************************************
79 ************************************************************************/
94 DBG_PRINT_EVENT("unhandled event");