robofsm: tune vidle: lower LOAD_PREPARE position and open them a little bit sooner

(open them sooner when approaching the oranges "NEAR_PLAYGROUND_CENTER"

diff --git a/src/robofsm/actuators.h b/src/robofsm/actuators.h
index 1e83f0513939ee4dfe56ccd51825868bad9e74f3..dc3a32578d648d498848a24cb918db6a8f48ed55 100644 (file)
--- a/src/robofsm/actuators.h
+++ b/src/robofsm/actuators.h
@@ -33,7 +33,7 @@ of the robot.
 
 #define VIDLE_UP               0x3c0
 #define VIDLE_MIDDLE           0x250
-#define VIDLE_LOAD_PREPARE     0x180
+#define VIDLE_LOAD_PREPARE     0x178
 #define VIDLE_DOWN             0x170
 
 #define VIDLE_FAST_SPEED       0x00

diff --git a/src/robofsm/common-states.cc b/src/robofsm/common-states.cc
index c8ce1e653a42324fed0ba86a733595fcebf7a4f2..55efaa0107c379aa170260b4aa35c100489c38e7 100644 (file)
--- a/src/robofsm/common-states.cc
+++ b/src/robofsm/common-states.cc
@@ -176,7 +176,7 @@ FSM_STATE(climb_the_slope)
                                                PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) +0.01,
                                                NO_TURN());
                                } else if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_CENTER) {
-                                       FSM_TIMER(3500);
+                                       FSM_TIMER(3800);
                                        robot_trajectory_add_point_trans(
                                                x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
                                                //1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) + 0.01 - 1.85));