From: petr <silhavik.p@gmail.com>
Date: Sat, 25 Feb 2012 10:33:49 +0000 (+0100)
Subject: robofsm: Homologation 2012
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/9bae5089e4574aa37db7311448070f94ccf62c62?hp=150541df22bfdaa12958ccddad074655422da357

robofsm: Homologation 2012

Update positions of waypoints.
---

diff --git a/src/robofsm/homologation2012.cc b/src/robofsm/homologation2012.cc
index ae049520..fb79a656 100644
--- 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: