homologation: chnaged maxv, maxacc for beter regulation

diff --git a/src/robofsm/homologation.cc b/src/robofsm/homologation.cc
index 6612daae9a31668e5178c0bb86099a9f58f34d7a..7a58fd7bdc5403f87b92a2ab6aa7efa35b7f526c 100644 (file)
--- a/src/robofsm/homologation.cc
+++ b/src/robofsm/homologation.cc
@@ -118,7 +118,7 @@ FSM_STATE(init)
                case EV_ENTRY:
                        tcFast = trajectoryConstraintsDefault;
                        tcFast.maxv = 1.5;
-                       tcFast.maxacc = 0.8;
+                       tcFast.maxacc = 0.3;
                        tcSlow = trajectoryConstraintsDefault;
                        tcSlow.maxv = 0.3;
                        tcSlow.maxacc = 0.3;
@@ -209,7 +209,7 @@ FSM_STATE(climb_the_slope)
                case EV_ENTRY:
                        robot.ignore_hokuyo = true;
                        climb_the_slope_motion_done_count = 0;
-                       robot_trajectory_new_backward(&tcVerySlow);
+                       robot_trajectory_new_backward(&tcSlow);
                        robot_trajectory_add_final_point_trans(
                                SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M + 0.25,
                                PLAYGROUND_HEIGHT_M - 0.355,
@@ -250,8 +250,8 @@ FSM_STATE(sledge_down)
                                NO_TURN());
                        break;
                case EV_MOTION_DONE:
-                       //FSM_TRANSITION(to_container_diag);
-                       FSM_TRANSITION(to_container_ortho);
+                       FSM_TRANSITION(to_container_diag);
+                       //FSM_TRANSITION(to_container_ortho);
                        break;
                case EV_START:
                case EV_TIMER:
@@ -274,10 +274,10 @@ FSM_STATE(to_container_diag)
                        robot_trajectory_add_point_trans(0.50, PLAYGROUND_HEIGHT_M - 0.6);
 
                        // face the rim with front of the robot
-                       robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M-0.35, 0.12, ARRIVE_FROM(DEG2RAD(-90), 0.10));
+                       //robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M-0.35, 0.12, ARRIVE_FROM(DEG2RAD(-90), 0.10));
                        // face the rim with back of the robot
-                       //robot_trajectory_add_point_trans(PLAYGROUND_WIDTH_M-0.5, 0.35);
-                       //robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M-0.35, 0.40, TURN(DEG2RAD(90)));
+                       robot_trajectory_add_point_trans(PLAYGROUND_WIDTH_M-0.5, 0.35);
+                       robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M-0.35, 0.40, TURN(DEG2RAD(90)));
                        break;
                case EV_START:
                case EV_TIMER: