printf("target %d / %d\n", target_cntr, max_target);
get_approach_point(x_target, y_tatget, &x_approach, &y_approach, &phi_approach);
- robot_goto_notrans(x_approach, y_approach, ARRIVE_FROM(phi_approach, 0.2), &tcSlow);
+ robot_goto_notrans(x_approach, y_approach, ARRIVE_FROM(phi_approach, 0.2), &tcFast);
break;
case EV_MOTION_DONE:
DBG_PRINT_EVENT("target approached");
goaly = ((rand()%PLAYGROUND_WIDTH_MM)/1000.0);
} while (!ShmapIsFreePoint(goalx, goaly) && close_goal(goalx, goaly));
- robot_goto_notrans(goalx, goaly, NO_TURN(), &tcSlow);
+ robot_goto_notrans(goalx, goaly, NO_TURN(), &tcFast);
DBG_PRINT_EVENT("new survey point");
break;
case EV_MOTION_ERROR:
tcFast = trajectoryConstraintsDefault;
tcFast.maxv = 1;
tcFast.maxacc = 0.5;
- tcFast.maxomega = 0.5;
+ tcFast.maxomega = 1;
tcSlow = trajectoryConstraintsDefault;
tcSlow.maxv = 0.3;
tcSlow.maxacc = 0.2;
- tcSlow.maxomega = 0.2;
+ tcSlow.maxomega = 0.7;
tcVerySlow = trajectoryConstraintsDefault;
tcVerySlow.maxv = 0.05;