robofsm: hopefully better approach to the slope

in case when not ready_to_climb_the_slope, arrive to the
slope in the same way as in the "opp_corns" strategy used
in the czech tournament

diff --git a/src/robofsm/common-states.cc b/src/robofsm/common-states.cc
index 4c0ec9ec8c7a32157bddb65876ea3073791eae45..d3f439aa4762ba93fb51b4a210a71391f0db5986 100644 (file)
--- a/src/robofsm/common-states.cc
+++ b/src/robofsm/common-states.cc
@@ -109,9 +109,14 @@ FSM_STATE(approach_the_slope)
                                        FSM_TRANSITION(climb_the_slope);
                                } else {
                                        robot_goto_trans(
-                                               x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.1, which_slope),
+                                               /*
+                                               x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.3, which_slope),
                                                PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.05,
                                                ARRIVE_FROM(DEG2RAD(0),0.05),
+                                               */
+                                               x_coord(0.3, which_slope),
+                                               PLAYGROUND_HEIGHT_M - ROBOT_WIDTH_M/2 - 0.03,
+                                               ARRIVE_FROM(DEG2RAD(0), 0.02),
                                                &tcFast);
                                }
                                break;