Faster acceleration at start

diff --git a/src/robofsm/common-states.cc b/src/robofsm/common-states.cc
index 7f438c62cf52d9d44fab8e3df6674c4c85d8a455..d3e3035cc54fef295c430fdf02b3bf1c4f4e482d 100644 (file)
--- a/src/robofsm/common-states.cc
+++ b/src/robofsm/common-states.cc
@@ -161,6 +161,7 @@ void inline enable_switches(bool enabled)
 
 FSM_STATE(climb_the_slope)
 {
+       struct TrajectoryConstraints tc;
        switch(FSM_EVENT) {
                case EV_ENTRY: {
                                // disables using side switches on bumpers when going up
@@ -168,7 +169,9 @@ FSM_STATE(climb_the_slope)
                                act_vidle(VIDLE_LOAD_PREPARE, 5);
                                robot.ignore_hokuyo = true;
                                /* create the trajectory and go */
-                               robot_trajectory_new_backward(&tcSlow);
+                               tc = tcSlow;
+                               tc.maxacc = 0.4;
+                               robot_trajectory_new_backward(&tc);
                                if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_BOUNDARY) {
                                        robot_trajectory_add_point_trans(
                                                x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),