Merge branch 'master' of jaresf1@rtime:/var/git/eurobot

[eurobot/public.git] / src / robofsm / competition.cc

diff --git a/src/robofsm/competition.cc b/src/robofsm/competition.cc
index 198d3476af3930b07eec48be6c1b8560a665c925..2a8493d8c011f816836788d12c2dfa01f182d887 100644 (file)
--- a/src/robofsm/competition.cc
+++ b/src/robofsm/competition.cc
@@ -315,9 +315,13 @@ FSM_STATE(init)
                tcSlow = trajectoryConstraintsDefault;
                tcSlow.maxv = 0.2;
                tcSlow.maxacc = 0.1;
+               tcSlow.maxomega = 1;
+               tcSlow.maxangacc = 1;
                tcVerySlow = trajectoryConstraintsDefault;
                tcVerySlow.maxv =  0.1;
                tcVerySlow.maxacc = 0.1;
+               tcVerySlow.maxomega = 0.7;
+               tcVerySlow.maxangacc = 1;
                tcVerySlow = trajectoryConstraintsDefault;
                FSM_TRANSITION(wait_for_start);
                break;
@@ -435,12 +439,13 @@ FSM_STATE(deposit_at_acropolis)
                                break;
                        case 2:
                                //FSM_SIGNAL(ACT, EV_FREE_SPACE, NULL);
-                               robot_move_by(0.08, NO_TURN(), &tcSlow);
+                               robot_move_by(0.08, NO_TURN(), &tcVerySlow);
                                deposit_status++;
                                break;
                        case 3: 
                                robot_move_by(-0.1, NO_TURN(), &tcSlow);
                                deposit_status++;
+                               FSM_TRANSITION(decide_what_next);
                                break;
                        }
                        break;