Merge branch 'master' of localhost:/home/eurobot/git

diff --git a/src/robofsm/homologation.cc b/src/robofsm/homologation.cc
index 13f24507ac1ed22e74471f30940c5503aaac9d99..c4f5fea57ec854a432c1abe14e4d4e5ce4da3753 100644 (file)
--- a/src/robofsm/homologation.cc
+++ b/src/robofsm/homologation.cc
@@ -155,6 +155,9 @@ FSM_STATE(climb_the_slope)
 {
        switch(FSM_EVENT) {
                case EV_ENTRY:
+                       // disables using side switches on bumpers when going up
+                       robot.use_left_switch = false;
+                       robot.use_right_switch = false;
                        act_vidle(VIDLE_DOWN);
                        robot.ignore_hokuyo = true;
                        robot_trajectory_new_backward(&tcSlow);
@@ -163,12 +166,12 @@ FSM_STATE(climb_the_slope)
                                PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2));
                        /* position for collecting oranges*/
                        robot_trajectory_add_final_point_trans(
-                               SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M + 0.06,
-                               PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) /*+0.02*/,
+                               SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M + 0.05,
+                               PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) +0.01,
                                NO_TURN());
                        break;
                case EV_MOTION_DONE:
-                       FSM_TIMER(5000);
+                       FSM_TIMER(2000);
                        act_vidle(VIDLE_UP);
                        break;
                case EV_START:
@@ -192,7 +195,7 @@ FSM_STATE(sledge_down)
                        robot_trajectory_new(&tcFast);
                        robot_trajectory_add_point_trans(
                                1 -ROBOT_AXIS_TO_BACK_M,
-                               PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.02);
+                               PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01);
                        robot_trajectory_add_point_trans(
                                SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.26,
                                PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.10);
@@ -210,6 +213,9 @@ FSM_STATE(sledge_down)
                case EV_GOAL_NOT_REACHABLE:
                        DBG_PRINT_EVENT("unhandled event");
                case EV_EXIT:
+                       // enables using side switches on bumpers
+                       robot.use_left_switch = true;
+                       robot.use_right_switch = true;
                        robot.ignore_hokuyo = false;
                        break;
        }