Competetion layout strategies modified

diff --git a/src/robofsm/competition.cc b/src/robofsm/competition.cc
index 4cd8b163d513c2ae8b2f26a7772e81681f0fcc7e..57b83e5e884ac4819bcecf80ea6755a0a3651b74 100644 (file)
--- a/src/robofsm/competition.cc
+++ b/src/robofsm/competition.cc
@@ -74,41 +74,41 @@ int pucks_at_once; // number of pucks to load at once (maximum number of pucks w
 const int free_puck_pick_up_sequence[][6][3] = {
 /* nx, ny, arrival angle */
        { /* lot 1 */
-               {0, 3, 135},
+               {0, 3, 135},            
                {1, 3, 180},
-               {2, 3, 180},
-               {2, 0, 90},
-               {1, 0, 45},
-               {0, 0, 0},
+               {0, 0, 90},
+               {1, 0, 180},            
+               {2, 3, 270},
+               {2, 0, 270},
        },
        {
                {0, 3, 135},
-               {2, 3, 90},
+               {2, 3, 180},
                {2, 2, 90},
                {2, 1, 90},
-               {2, 0, 90},
-               {0, 0, 10},
+               {2, 0, 90},
+               {0, 0, 10},
        },
        {
                {0, 3, 135},
-               {2, 3, 160},
-               {1, 2, 40},
+               {2, 3, 180},
+               {1, 2, 90},
                {1, 1, 90},
-               {2, 0, 135},
-               {0, 0, 0},
+               {2, 0, 90},
+               {0, 0, 10},
        },
        { /* lot 4 */
                {0, 3, 135},
+               {2, 3, 180},
                {0, 2, 90},
                {0, 1, 90},
                {0, 0, 90},
-               {2, 3, -90},
-               {2, 0, 90},
+               {2, 0, 180},
        },
        {
                {0, 3, 135},
                {1, 3, 180},
-               {2, 2, 135},
+               {2, 2, 90},
                {2, 1, 90},
                {1, 0, 0},
                {0, 0, 0},
@@ -116,56 +116,57 @@ const int free_puck_pick_up_sequence[][6][3] = {
        { /* lot 6 */
                {0, 3, 135},
                {1, 3, 180},
-               {1, 2, 135},
+               {1, 2, 90},
                {1, 1, 90},
-               {1, 0, 0},
+               {1, 0, 0},
                {0, 0, 0},
        },
        {
                {0, 3, 135},
+               {1, 3, 180},
                {0, 2, 90},
                {0, 1, 90},
-               {0, 0, 90},
-               {1, 3, -45},
-               {1, 0, 45},
+               {1, 0, 45},
+               {0, 0, 0},
        },
        { /* lot 8 */
                {0, 3, 135},
-               {1, 2, 135},
-               {1, 1, 90},
-               {0, 0, 45},
-               {2, 2, -90},
-               {2, 1, -90},
+               {0, 0, 90},
+               {1, 1, 270},
+               {1, 2, 270},
+               {2, 2, 90},
+               {2, 1, 90},
        },
        {
                {0, 3, 135},
-               {0, 2, 90},
-               {0, 1, 90},
-               {0, 0, 90},
-               {2, 2, -90},
-               {2, 1, -90},
+               {2, 2, 135},
+               {2, 1, 90},
+               {0, 0, 45},
+               {0, 1, 300},    
+               {0, 2, 270},
+
        },
        { /* lot 10 */
                {0, 3, 135},
-               {0, 2, 90},
-               {0, 1, 90},
-               {0, 0, 90},
-               {1, 1, -45},
-               {1, 2, -90},
+               {1, 2, 135},
+               {1, 1, 45},
+               {0, 0, 45},
+               {0, 1, 300},
+               {0, 2, 270},
        },
 };
 
 const int prefered_acropolis_approach_angles[][3] = {
-       {180, 180, 220},
-       {130, 160, 200},
-       {130, 160, 200},
-       {130, 160, 200}, // FIXME... fix these
-       {130, 160, 200}, // FIXME... fix these
-       {130, 160, 200}, // FIXME... fix these
-       {130, 160, 200}, // FIXME... fix these
-       {130, 160, 200}, // FIXME... fix these
-       {130, 160, 200}, // FIXME... fix these
-       {130, 160, 200}, // FIXME... fix these
+       {180, 240, 130},
+       {130, 170, 210},
+       {130, 170, 210},
+       {130, 170, 210}, // FIXME... fix these
+       {130, 170, 210}, // FIXME... fix these
+       {130, 170, 210}, // FIXME... fix these
+       {130, 170, 210}, // FIXME... fix these
+       {220, 130, 190}, // FIXME... fix these
+       {130, 220, 180}, // FIXME... fix these
+       {130, 220, 180}, // FIXME... fix these
 };
 
 /************************************************************************