From: Michal Vokac <vokac.m@gmail.com>
Date: Thu, 29 Apr 2010 17:49:36 +0000 (+0200)
Subject: homologation: working version
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/18a0863336995a3f1f5ddb0aee07fc5888072b08

homologation: working version
---

diff --git a/src/robofsm/homologation.cc b/src/robofsm/homologation.cc
index 1c922def..ec5a8e14 100644
--- a/src/robofsm/homologation.cc
+++ b/src/robofsm/homologation.cc
@@ -39,7 +39,6 @@ struct TrajectoryConstraints tcFast, tcSlow, tcVerySlow;
  ************************************************************************/
 
 static const Point containerPosition(PLAYGROUND_WIDTH_M - 0.25, 0.02); // blue container Position
-static int wait_time;	// variable for waiting in miliseconds when you need
 
 // returns pointer to next real (non-fake) corn which was not yet collected
 // TODO: note: use this for "short_time_to_end: situation only, otherwise
@@ -48,7 +47,7 @@ struct corn * choose_next_corn()
 {
 	Point cornPosition;
 
-	double minDistance = 2 * PLAYGROUND_HEIGHT_M; // "infinity"	
+	double minDistance = 2 * PLAYGROUND_HEIGHT_M; // "infinity"
 	struct corn *minCorn = NULL, *corn;
 	// robot.corns->corns[NUM_OF_FAKE_CORNS] is first non-fake corn in the robot.corns structure
 	for(corn = &robot.corns->corns[NUM_OF_FAKE_CORNS]; corn < &robot.corns->corns[robot.corns->corns_count]; corn++) {
@@ -128,7 +127,7 @@ FSM_STATE(init)
 			tcFast.maxomega = 2;
 			tcSlow = trajectoryConstraintsDefault;
 			tcSlow.maxv = 0.3;
-			tcSlow.maxacc = 0.3;
+			tcSlow.maxacc = 0.1;
 			tcVerySlow = trajectoryConstraintsDefault;
 			tcVerySlow.maxv = 0.05;
 			tcVerySlow.maxacc = 0.05;
@@ -196,7 +195,7 @@ FSM_STATE(climb_the_slope)
 			/* position for collecting oranges*/
 			robot_trajectory_add_final_point_trans(
 				SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M + 0.04,
-				PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) + 0.02,
+				PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) /*+0.02*/,
 				NO_TURN());
 			break;
 		case EV_MOTION_DONE:
@@ -205,6 +204,7 @@ FSM_STATE(climb_the_slope)
 		case EV_START:
 		case EV_TIMER:
 			FSM_TRANSITION(sledge_down);
+			break;
 		case EV_RETURN:
 		case EV_ACTION_DONE:
 		case EV_ACTION_ERROR:
@@ -258,10 +258,16 @@ FSM_STATE(to_container_diag)
 			break;
 		case EV_START:
 		case EV_TIMER:
+			// FIXME experiment tuning 
+			//FSM_TRANSITION(experiment);
+			break;
 		case EV_RETURN:
 		case EV_ACTION_DONE:
 		case EV_ACTION_ERROR:
 		case EV_MOTION_DONE:
+			// FIXME experiment tuning
+			//FSM_TIMER(1000);
+			//break;
 		case EV_GOAL_NOT_REACHABLE:
 			DBG_PRINT_EVENT("unhandled event");
 		case EV_EXIT:
@@ -289,10 +295,16 @@ FSM_STATE(to_container_ortho)
 			break;
 		case EV_START:
 		case EV_TIMER:
+			// FIXME expetiment tuning
+			//FSM_TRANSITION(experiment);
+			//break;
 		case EV_RETURN:
 		case EV_ACTION_DONE:
 		case EV_ACTION_ERROR:
 		case EV_MOTION_DONE:
+			 // FIXME expetiment tuning
+			 //FSM_TIMER(1000);
+			 //break;
 		case EV_GOAL_NOT_REACHABLE:
 			DBG_PRINT_EVENT("unhandled event");
 		case EV_EXIT:
@@ -307,7 +319,7 @@ FSM_STATE(experiment)
 		case EV_ENTRY: {
 				double x, y, phi;
 				robot_get_est_pos(&x, &y, &phi);
-				printf("experiment: puck cnt: %d, est pos %.3f, %.3f, %.3f\n",
+				printf("experiment: corn cnt: %d, est pos %.3f, %.3f, %.3f\n",
 					cnt, x, y, phi);
 				struct corn * corn = choose_next_corn();
 				Pos *p = get_corn_approach_position(corn /*&robot.corns->corns[cnt++]*/);