tcVerySlow acc decreased

[eurobot/public.git] / src / robofsm / competition.cc

diff --git a/src/robofsm/competition.cc b/src/robofsm/competition.cc
index 2a8493d8c011f816836788d12c2dfa01f182d887..eb105982867f46a50cac83389cc8ae47ac37f68d 100644 (file)
--- a/src/robofsm/competition.cc
+++ b/src/robofsm/competition.cc
@@ -91,7 +91,7 @@ const int free_puck_pick_up_sequence[][6][3] = {
                {0, 0, 10},
        },
        {
-               {0, 3, 135},
+               {0, 3, 125},
                {2, 3, 160},
                {1, 2, 40},
                {1, 1, 90},
@@ -319,7 +319,7 @@ FSM_STATE(init)
                tcSlow.maxangacc = 1;
                tcVerySlow = trajectoryConstraintsDefault;
                tcVerySlow.maxv =  0.1;
-               tcVerySlow.maxacc = 0.1;
+               tcVerySlow.maxacc = 0.05;
                tcVerySlow.maxomega = 0.7;
                tcVerySlow.maxangacc = 1;
                tcVerySlow = trajectoryConstraintsDefault;
@@ -443,7 +443,7 @@ FSM_STATE(deposit_at_acropolis)
                                deposit_status++;
                                break;
                        case 3: 
-                               robot_move_by(-0.1, NO_TURN(), &tcSlow);
+                               robot_move_by(-0.15, NO_TURN(), &tcSlow);
                                deposit_status++;
                                FSM_TRANSITION(decide_what_next);
                                break;