From: Michal Vokac <vokac.m@gmail.com>
Date: Fri, 5 Oct 2012 23:04:21 +0000 (+0200)
Subject: robofsm: Increase movement speed.
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/12a35e5af4d12ad29b50546f86e14cb12fbf75b8

robofsm: Increase movement speed.
---

diff --git a/src/robofsm/common-states.cc b/src/robofsm/common-states.cc
index 50e44f63..7ea261b7 100644
--- a/src/robofsm/common-states.cc
+++ b/src/robofsm/common-states.cc
@@ -254,7 +254,7 @@ FSM_STATE(approach_target)
                         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");
@@ -299,7 +299,7 @@ FSM_STATE(move_around)
                                 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:
diff --git a/src/robofsm/sick-day.cc b/src/robofsm/sick-day.cc
index a80206b8..dddbddd6 100644
--- a/src/robofsm/sick-day.cc
+++ b/src/robofsm/sick-day.cc
@@ -51,12 +51,12 @@ FSM_STATE(init)
 			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;