From 9bae5089e4574aa37db7311448070f94ccf62c62 Mon Sep 17 00:00:00 2001 From: petr Date: Sat, 25 Feb 2012 11:33:49 +0100 Subject: [PATCH 1/1] robofsm: Homologation 2012 Update positions of waypoints. --- src/robofsm/homologation2012.cc | 25 +++++++++++++++---------- 1 file changed, 15 insertions(+), 10 deletions(-) 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 #include @@ -16,9 +23,7 @@ #include "actuators.h" #include #include "match-timing.h" -//#include "eb2010misc.h" #include -//#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: -- 2.39.2