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
20 #include <movehelper.h>
27 #include "actuators.h"
28 #include "match-timing.h"
29 #include "common-states.h"
36 if (rv) error(1, errno, "robot_init() returned %d\n", rv);
38 robot.obstacle_avoidance_enabled = true;
40 robot.fsm.main.debug_states = 1;
41 robot.fsm.motion.debug_states = 1;
42 //robot.fsm.act.debug_states = 1;
44 //robot.fsm.main.state = &fsm_state_main_start_opp_corn;
45 //robot.fsm.main.state = &fsm_state_main_start_opp_oranges;
46 robot.fsm.main.state = &fsm_state_main_start_all_our_figures;
48 //robot.fsm.main.transition_callback = trans_callback;
49 //robot.fsm.motion.transition_callback = move_trans_callback;
51 tcJerk = trajectoryConstraintsDefault;
55 tcFast = trajectoryConstraintsDefault;
59 tcSlow = trajectoryConstraintsDefault;
62 tcVerySlow = trajectoryConstraintsDefault;
63 tcVerySlow.maxv = 0.05;
64 tcVerySlow.maxacc = 0.05;
67 if (rv) error(1, errno, "robot_start() returned %d\n", rv);
74 /************************************************************************
76 ************************************************************************/
91 DBG_PRINT_EVENT("unhandled event");