final version before departure to RETRO MUSIC HALL

bugfix: forgotten EV_FREE_SPACE signal send

diff --git a/src/robofsm/competition.cc b/src/robofsm/competition.cc
index eb105982867f46a50cac83389cc8ae47ac37f68d..2b9337cba684d58fa2a5cb67974eb0b09760d65f 100644 (file)
--- a/src/robofsm/competition.cc
+++ b/src/robofsm/competition.cc
@@ -322,7 +322,6 @@ FSM_STATE(init)
                tcVerySlow.maxacc = 0.05;
                tcVerySlow.maxomega = 0.7;
                tcVerySlow.maxangacc = 1;
-               tcVerySlow = trajectoryConstraintsDefault;
                FSM_TRANSITION(wait_for_start);
                break;
        default:
@@ -438,15 +437,17 @@ FSM_STATE(deposit_at_acropolis)
                                FSM_SIGNAL(ACT, EV_UNLOAD_PUCKS, NULL);
                                break;
                        case 2:
-                               //FSM_SIGNAL(ACT, EV_FREE_SPACE, NULL);
                                robot_move_by(0.08, NO_TURN(), &tcVerySlow);
                                deposit_status++;
                                break;
                        case 3: 
                                robot_move_by(-0.15, NO_TURN(), &tcSlow);
                                deposit_status++;
-                               FSM_TRANSITION(decide_what_next);
                                break;
+                       case 4: 
+                               FSM_TRANSITION(decide_what_next);
+                               FSM_SIGNAL(ACT, EV_FREE_SPACE, NULL);
+                               deposit_status++;
                        }
                        break;
                case EV_TIMER: