This is actual state of the robot after competition.

[eurobot/public.git] / src / robofsm / robot.c

diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c
index 94f216596fbfd5204f40a69e529e4f1fc785896a..833ca4146727247882ef71d3d1e8373dfb65244e 100644 (file)
--- a/src/robofsm/robot.c
+++ b/src/robofsm/robot.c
@@ -79,21 +79,26 @@ void fill_in_known_areas_in_map()
        ShmapSetRectangleFlag(0, 1.7, 0.4, 1.678, MAP_FLAG_WALL, 0);
        ShmapSetRectangleFlag(2.55, 1.7, 3, 1.678, MAP_FLAG_WALL, 0);
 
+       /* opponent start area */
+       if (robot.team_color == RED) {
+               ShmapSetRectangleFlag(PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M, PLAYGROUND_WIDTH_M - 0.4 - 0.05 - 0.35, PLAYGROUND_HEIGHT_M - 0.4, MAP_FLAG_WALL, 0);
+       } else {
+               ShmapSetRectangleFlag(0, PLAYGROUND_HEIGHT_M, 0.8, PLAYGROUND_HEIGHT_M - 0.4, MAP_FLAG_WALL, 0);
+       }
+
        /* protected bloc left */
-       ShmapSetRectangleFlag(0.45, 0, 1.15, 0.12, MAP_FLAG_WALL, 0);
-       ShmapSetRectangleFlag(0.45, 0.12, 0.472, 0.25, MAP_FLAG_WALL, 0);
-       ShmapSetRectangleFlag(1.128, 0.12, 1.15, 0.25, MAP_FLAG_WALL, 0);
+       ShmapSetRectangleFlag(0, 0, 1.15, 0.35, MAP_FLAG_WALL, 0);
 
        /* protected bloc right */
-       ShmapSetRectangleFlag(1.85, 0, 2.55, 0.12, MAP_FLAG_WALL, 0);
-       ShmapSetRectangleFlag(1.85, 0.12, 1.872, 0.25, MAP_FLAG_WALL, 0);
-       ShmapSetRectangleFlag(2.528, 0.12, 2.55, 0.25, MAP_FLAG_WALL, 0);
+       ShmapSetRectangleFlag(1.85, 0, PLAYGROUND_WIDTH_M, 0.35, MAP_FLAG_WALL, 0);
+
+       /* plan trajectory on */
 
        /* playing area walls */
-       ShmapSetRectangleFlag(0, 0, PLAYGROUND_WIDTH_M, 0.1, MAP_FLAG_IGNORE_OBST, 0);
-       ShmapSetRectangleFlag(PLAYGROUND_WIDTH_M, 0, PLAYGROUND_WIDTH_M - 0.1, PLAYGROUND_HEIGHT_M, MAP_FLAG_IGNORE_OBST, 0);
-       ShmapSetRectangleFlag(0 ,PLAYGROUND_HEIGHT_M, PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M - 0.1, MAP_FLAG_IGNORE_OBST, 0);
-       ShmapSetRectangleFlag(0 , 0, 0.1, PLAYGROUND_HEIGHT_M, MAP_FLAG_IGNORE_OBST, 0);
+//     ShmapSetRectangleFlag(0, 0, PLAYGROUND_WIDTH_M, 0.1, MAP_FLAG_IGNORE_OBST, 0);
+//     ShmapSetRectangleFlag(PLAYGROUND_WIDTH_M, 0, PLAYGROUND_WIDTH_M - 0.1, PLAYGROUND_HEIGHT_M, MAP_FLAG_IGNORE_OBST, 0);
+//     ShmapSetRectangleFlag(0 ,PLAYGROUND_HEIGHT_M, PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M - 0.1, MAP_FLAG_IGNORE_OBST, 0);
+//     ShmapSetRectangleFlag(0 , 0, 0.1, PLAYGROUND_HEIGHT_M, MAP_FLAG_IGNORE_OBST, 0);
 }
 
 static void trans_callback(struct robo_fsm *fsm)