remove debug print in robomon, higher constant for move regul.

diff --git a/src/robofsm/eb2008/movehelper_eb2008.cc b/src/robofsm/eb2008/movehelper_eb2008.cc
index 5debae757ec2d74aeabf35c6e8e550d524cfe51a..5633084dc64b74e6b25659221ed2ac82fdc73b5b 100644 (file)
--- a/src/robofsm/eb2008/movehelper_eb2008.cc
+++ b/src/robofsm/eb2008/movehelper_eb2008.cc
@@ -23,10 +23,10 @@
 
 #if 1
 struct TrajectoryConstraints trajectoryConstraintsDefault = {
-       maxv: 0.1,              // m/s
+       maxv: 0.9,              // m/s
        maxomega: 1.5,          // rad/s
        maxangacc: 2,           // rad/s^2
-       maxacc: 0.2,            // m/s^2
+       maxacc: 0.3,            // m/s^2
        maxcenacc: 1,           // m/s^2
        maxe: (double)ROBOT_WIDTH_MM/2.0/1000.0 // m
 };

diff --git a/src/robomon/src2/RobomonExplorer.cpp b/src/robomon/src2/RobomonExplorer.cpp
index 732890630beb4534b023a74bd708f07a52615400..1c53b546509564d0fc667f029294b08928f92a9c 100644 (file)
--- a/src/robomon/src2/RobomonExplorer.cpp
+++ b/src/robomon/src2/RobomonExplorer.cpp
@@ -1136,7 +1136,7 @@ void RobomonExplorer::sharpsReceived()
        int val_long[SHARP_LONG_CNT];
        int val_short[SHARP_SHORT_CNT];
 
-       WDBG("ORTE received: sharps");
+//     WDBG("ORTE received: sharps");
 
        val_long[0] = (int)((double)orte_eb2008.sharps.left * 1000);
        val_long[1] = (int)((double)orte_eb2008.sharps.front_left * 1000);