From 12f281964d419c79ab68b8e58544010e8c496ff1 Mon Sep 17 00:00:00 2001
From: Benes Petr <benesp7@fel.cvut.cz>
Date: Sat, 25 Apr 2009 04:47:42 +0200
Subject: [PATCH] Competetion layout strategies modified

---
 src/robofsm/competition.cc | 91 +++++++++++++++++++-------------------
 1 file changed, 46 insertions(+), 45 deletions(-)

diff --git a/src/robofsm/competition.cc b/src/robofsm/competition.cc
index 4cd8b163..57b83e5e 100644
--- a/src/robofsm/competition.cc
+++ b/src/robofsm/competition.cc
@@ -74,41 +74,41 @@ int pucks_at_once; // number of pucks to load at once (maximum number of pucks w
 const int free_puck_pick_up_sequence[][6][3] = {
 /* nx, ny, arrival angle */
 	{ /* lot 1 */
-		{0, 3, 135},
+		{0, 3, 135},		
 		{1, 3, 180},
-		{2, 3, 180},
-		{2, 0, 90},
-		{1, 0, 45},
-		{0, 0, 0},
+		{0, 0, 90},
+		{1, 0, 180},		
+  		{2, 3, 270},
+  		{2, 0, 270},
 	},
 	{
 		{0, 3, 135},
-		{2, 3, 90},
+		{2, 3, 180},
 		{2, 2, 90},
 		{2, 1, 90},
-		{2, 0, 90},
-		{0, 0, 10},
+  		{2, 0, 90},
+  		{0, 0, 10},
 	},
 	{
 		{0, 3, 135},
-		{2, 3, 160},
-		{1, 2, 40},
+		{2, 3, 180},
+		{1, 2, 90},
 		{1, 1, 90},
-		{2, 0, 135},
-		{0, 0, 0},
+  		{2, 0, 90},
+    		{0, 0, 10},
 	},
 	{ /* lot 4 */
 		{0, 3, 135},
+  		{2, 3, 180},
 		{0, 2, 90},
 		{0, 1, 90},
 		{0, 0, 90},
-		{2, 3, -90},
-		{2, 0, 90},
+		{2, 0, 180},
 	},
 	{
 		{0, 3, 135},
 		{1, 3, 180},
-		{2, 2, 135},
+		{2, 2, 90},
 		{2, 1, 90},
 		{1, 0, 0},
 		{0, 0, 0},
@@ -116,56 +116,57 @@ const int free_puck_pick_up_sequence[][6][3] = {
 	{ /* lot 6 */
 		{0, 3, 135},
 		{1, 3, 180},
-		{1, 2, 135},
+		{1, 2, 90},
 		{1, 1, 90},
-		{1, 0, 0},
+  		{1, 0, 0},
 		{0, 0, 0},
 	},
 	{
 		{0, 3, 135},
+  		{1, 3, 180},
 		{0, 2, 90},
 		{0, 1, 90},
-		{0, 0, 90},
-		{1, 3, -45},
-		{1, 0, 45},
+  		{1, 0, 45},
+		{0, 0, 0},
 	},
 	{ /* lot 8 */
 		{0, 3, 135},
-		{1, 2, 135},
-		{1, 1, 90},
-		{0, 0, 45},
-		{2, 2, -90},
-		{2, 1, -90},
+  		{0, 0, 90},
+		{1, 1, 270},
+  		{1, 2, 270},
+		{2, 2, 90},
+		{2, 1, 90},
 	},
 	{
 		{0, 3, 135},
-		{0, 2, 90},
-		{0, 1, 90},
-		{0, 0, 90},
-		{2, 2, -90},
-		{2, 1, -90},
+  		{2, 2, 135},
+    		{2, 1, 90},
+      		{0, 0, 45},
+		{0, 1, 300},	
+  		{0, 2, 270},
+
 	},
 	{ /* lot 10 */
 		{0, 3, 135},
-		{0, 2, 90},
-		{0, 1, 90},
-		{0, 0, 90},
-		{1, 1, -45},
-		{1, 2, -90},
+  		{1, 2, 135},
+    		{1, 1, 45},
+      		{0, 0, 45},
+		{0, 1, 300},
+		{0, 2, 270},
 	},
 };
 
 const int prefered_acropolis_approach_angles[][3] = {
-	{180, 180, 220},
-	{130, 160, 200},
-	{130, 160, 200},
-	{130, 160, 200}, // FIXME... fix these
-	{130, 160, 200}, // FIXME... fix these
-	{130, 160, 200}, // FIXME... fix these
-	{130, 160, 200}, // FIXME... fix these
-	{130, 160, 200}, // FIXME... fix these
-	{130, 160, 200}, // FIXME... fix these
-	{130, 160, 200}, // FIXME... fix these
+	{180, 240, 130},
+	{130, 170, 210},
+	{130, 170, 210},
+	{130, 170, 210}, // FIXME... fix these
+	{130, 170, 210}, // FIXME... fix these
+	{130, 170, 210}, // FIXME... fix these
+	{130, 170, 210}, // FIXME... fix these
+	{220, 130, 190}, // FIXME... fix these
+	{130, 220, 180}, // FIXME... fix these
+	{130, 220, 180}, // FIXME... fix these
 };
 
 /************************************************************************
-- 
2.39.2