From 3e43c20167e9dbc8fc46435da11a70019eaf0c9d Mon Sep 17 00:00:00 2001 From: Filip Jares Date: Wed, 26 May 2010 09:09:35 +0200 Subject: [PATCH] robofsm: hopefully better approach to the slope in case when not ready_to_climb_the_slope, arrive to the slope in the same way as in the "opp_corns" strategy used in the czech tournament --- src/robofsm/common-states.cc | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/robofsm/common-states.cc b/src/robofsm/common-states.cc index 4c0ec9ec..d3f439aa 100644 --- a/src/robofsm/common-states.cc +++ b/src/robofsm/common-states.cc @@ -109,9 +109,14 @@ FSM_STATE(approach_the_slope) FSM_TRANSITION(climb_the_slope); } else { robot_goto_trans( - x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.1, which_slope), + /* + x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.3, which_slope), PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.05, ARRIVE_FROM(DEG2RAD(0),0.05), + */ + x_coord(0.3, which_slope), + PLAYGROUND_HEIGHT_M - ROBOT_WIDTH_M/2 - 0.03, + ARRIVE_FROM(DEG2RAD(0), 0.02), &tcFast); } break; -- 2.39.2