robofsm: Homologation 2012

Update positions of waypoints.

diff --git a/src/robofsm/homologation2012.cc b/src/robofsm/homologation2012.cc
index ae049520a942af465d8941dc34dd91a036a93450..fb79a656915754724e8b7dc3063be59f35dc9506 100644 (file)
--- a/src/robofsm/homologation2012.cc
+++ b/src/robofsm/homologation2012.cc
@@ -1,6 +1,13 @@
-/*TODO
- * No usage of jaws. Update dimensions.
+/*
+ * homologation.cc       12/02/21
+ *
+ * Robot's control program intended for homologation (approval phase) on Eurobot 2012.
+ *
+ * Copyright: (c) 2012 CTU Flamingos
+ *            CTU FEE - Department of Control Engineering
+ * License: GNU GPL v.2
  */
+
 #define FSM_MAIN
 #include <robot.h>
 #include <fsm.h>
@@ -16,9 +23,7 @@
 #include "actuators.h"
 #include <trgen.h>
 #include "match-timing.h"
-//#include "eb2010misc.h"
 #include <ul_log.h>
-//#include "../projects/eurobot/master/src/robofsm/actuators.h"
 
 UL_LOG_CUST(ulogd_homologation); /* Log domain name = ulogd + name of the file */
 
@@ -132,10 +137,10 @@ FSM_STATE(aproach_buillon)
                case EV_ENTRY:
                        robot_trajectory_new(&tcSlow); // new trajectory
                        robot_trajectory_add_point_trans(
-                               0.7,
+                               0.62,
                                PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2.0));
                        robot_trajectory_add_final_point_trans(
-                               0.7,
+                               0.72,
                                1.14,
                                TURN_CW(DEG2RAD(180)));
                        break;
@@ -201,7 +206,7 @@ FSM_STATE(leave_buillon)
                case EV_ENTRY:
                        robot_trajectory_new_backward(&tcSlow); // new trajectory
                        robot_trajectory_add_final_point_trans(
-                               0.6,
+                               0.64,
                                1.14,
                                NO_TURN());
                        break;
@@ -223,11 +228,11 @@ FSM_STATE(push_bottle)
                case EV_ENTRY:
                        robot_trajectory_new(&tcSlow); // new trajectory
                        robot_trajectory_add_point_trans(
-                               0.6,
+                               0.64,
                                0.9);
                        robot_trajectory_add_final_point_trans(
-                               0.6,
-                               ROBOT_AXIS_TO_FRONT_M,
+                               0.64,
+                               ROBOT_AXIS_TO_FRONT_M + 0.05,
                                ARRIVE_FROM(DEG2RAD(270), 0.10));
                        break;
                case EV_MOTION_DONE: