X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/blobdiff_plain/1ff21080e54ec7236fe1f2d682eb3e4e24fe257a..2d1408a4af74eb1d73816df3d17cc22a5e27e1f6:/src/robofsm/common-states.cc

diff --git a/src/robofsm/common-states.cc b/src/robofsm/common-states.cc
index 7556727b..1975f71a 100644
--- a/src/robofsm/common-states.cc
+++ b/src/robofsm/common-states.cc
@@ -36,7 +36,7 @@ UL_LOG_CUST(ulogd_common_states); /* Log domain name = ulogd + name of the file
 void set_initial_position()
 {
 	robot_set_est_pos_trans(ROBOT_AXIS_TO_BACK_M,
-				PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2.0) - 0.05,
+				PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2.0),
 				0);
 }
 
@@ -444,18 +444,20 @@ FSM_STATE(go_back_for_cal)
 			x1 = robot.odo_distance_a;
 			y1 = robot.odo_distance_b;
 			ROBOT_UNLOCK(est_pos_odo);
-			printf("Distance for calibration: \n");
-			printf("Left%f\n", x1);
-			printf("Right%f\n", y1);
-			FILE * file;
-			file = fopen ("odometry_cal_data","a+");
-			sprintf(buffer, "%4.4f", -1/x1);
-			fputs (buffer,file);
-			fputs (" ", file);
-			sprintf(buffer, "%4.4f", -1/y1);
-			fputs (buffer,file);
-			fputs ("\n", file);
-			fclose(file);
+			if(x1 != 0 || y1 != 0) {
+				printf("Distance for calibration: \n");
+				printf("Left%f\n", x1);
+				printf("Right%f\n", y1);
+				FILE * file;
+				file = fopen ("odometry_cal_data","a+");
+				sprintf(buffer, "%4.4f", -1/x1);
+				fputs (buffer,file);
+				fputs (" ", file);
+				sprintf(buffer, "%4.4f", -1/y1);
+				fputs (buffer,file);
+				fputs ("\n", file);
+				fclose(file);
+			} 
 			SUBFSM_RET(NULL);
 			break;
 		case EV_TIMER: