Merge branch 'master' of eurobot@michal:/home/eurobot/git

diff --git a/src/robofsm/eb2008/fsmmain.cc b/src/robofsm/eb2008/fsmmain.cc
index 30339de067258b227f8f3f941c51cb14b3afdb52..1ef405b39cf067bce3cd554a620ba66e10dff0cd 100644 (file)
--- a/src/robofsm/eb2008/fsmmain.cc
+++ b/src/robofsm/eb2008/fsmmain.cc
@@ -477,9 +477,9 @@ FSM_STATE(go_to_container)
                        off_brush_right();
                        off_bagr();
                        robot_trajectory_new(NULL);
-                       robot_trajectory_add_point_trans(PLAYGROUND_WIDTH_M - 0.6, 1.0);                                        
-                       robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M - 0.4, 
-                                               0.4, TURN(90));
+                       robot_trajectory_add_point_trans(PLAYGROUND_WIDTH_M - 0.8, 1.0);                                        
+                       robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M - 0.6, 
+                                                              0.4, TURN(DEG2RAD(90)));
                        /*FSM_TIMER(GO_TO_CONTAINER_TIMER);*/
                        break;
                case EV_TIMER:

diff --git a/src/robofsm/eb2008/robot_eb2008.c b/src/robofsm/eb2008/robot_eb2008.c
index f2f90a0cc4d1b844328802ee6a56a3522102c795..a4ceb16b174f901500a1dde08e89afe55d3fd24f 100644 (file)
--- a/src/robofsm/eb2008/robot_eb2008.c
+++ b/src/robofsm/eb2008/robot_eb2008.c
@@ -76,7 +76,7 @@ void fill_in_known_areas_in_map()
        ShmapSetRectangleFlag(2.8, 1.25, 3, 1.45, MAP_FLAG_IGNORE_OBST, 0); /* Right white vert. dispenser */
 
        ShmapSetRectangleFlag(0.65, 1.9, 0.85, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* Blue vert. dispenser */
-       ShmapSetRectangleFlag(2.35, 1.9, 2.55, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* Red vert. dispenser */
+       ShmapSetRectangleFlag(2.30, 1.9, 2.55, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* Red vert. dispenser */
 
        /* Ignore other obstacles at edges */
        ShmapSetRectangleFlag(0.0, 0.0, 0.09, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* left */

diff --git a/src/robofsm/eb2008/robot_eb2008.h b/src/robofsm/eb2008/robot_eb2008.h
index fd1813ca5885e813283e1fdaad42b4060361ad4d..0ba47a99684256f59d0ea31f102713c2fe835fd5 100644 (file)
--- a/src/robofsm/eb2008/robot_eb2008.h
+++ b/src/robofsm/eb2008/robot_eb2008.h
@@ -29,8 +29,8 @@
 
 /* Select robot color. If we are BLUE, no coordinate transformation will
  * be performed. */
-// #define WE_ARE_RED
-#define WE_ARE_BLUE
+#define WE_ARE_RED
+//#define WE_ARE_BLUE
 
 /**
  * Competition parameters