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authorNicolas Schodet2013-05-09 12:15:00 +0200
committerNicolas Schodet2013-05-09 12:15:00 +0200
commitd8ccdea2cb5315582d4129e22ae2b87c01736964 (patch)
treebe4148406fd9fe947be1333613c4e1f3b8ef3092 /digital
parent3335b166697b98ac899024930d497fa5811ae04d (diff)
digital/io-hub/src/apbirthday: cannon calibration
Diffstat (limited to 'digital')
-rw-r--r--digital/io-hub/src/apbirthday/cannon.cc1
-rw-r--r--digital/io-hub/src/apbirthday/strat.cc4
2 files changed, 3 insertions, 2 deletions
diff --git a/digital/io-hub/src/apbirthday/cannon.cc b/digital/io-hub/src/apbirthday/cannon.cc
index 4e91d750..0ca5b246 100644
--- a/digital/io-hub/src/apbirthday/cannon.cc
+++ b/digital/io-hub/src/apbirthday/cannon.cc
@@ -61,6 +61,7 @@ FSM_START_WITH (CANNON_TRAP_OFF)
FSM_TRANS (CANNON_TRAP_OFF, init_actuators, CANNON_TRAP_BLOCK)
{
+ robot->pot_regul.set_wiper (1, 23);
Cannon::set_servo_pos (Cannon::BLOCK);
}
diff --git a/digital/io-hub/src/apbirthday/strat.cc b/digital/io-hub/src/apbirthday/strat.cc
index 1ba5eda7..29d6eb7d 100644
--- a/digital/io-hub/src/apbirthday/strat.cc
+++ b/digital/io-hub/src/apbirthday/strat.cc
@@ -184,9 +184,9 @@ Strat::decision (Position &pos)
return CANDLES;
case 2:
if (team_color)
- pos = pg_position_deg (1500, 1200, 90);
+ pos = (Position) { { 1462, 1256 }, G_ANGLE_UF016_DEG (90) };
else
- pos = pg_position_deg (1500 - 200, 1200, 90);
+ pos = (Position) { { 1642, 1276 }, G_ANGLE_UF016_DEG (90) };
last_decision_ = CANNON;
return CANNON;
}