From 210f4e49a151769abd13357546cb7133d881acd6 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 20 May 2012 00:00:57 +0200 Subject: digital/io-hub/src/guybrush: change unload position --- digital/io-hub/src/guybrush/strat.c | 6 ++++-- digital/io-hub/src/guybrush/top.c | 6 +++--- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/digital/io-hub/src/guybrush/strat.c b/digital/io-hub/src/guybrush/strat.c index 36cfc828..2f81688a 100644 --- a/digital/io-hub/src/guybrush/strat.c +++ b/digital/io-hub/src/guybrush/strat.c @@ -77,9 +77,11 @@ static const struct strat_place_t strat_place[STRAT_PLACE_NB] = { { { PG_MIRROR_X (PG_CAPTAIN_ROOM_LENGTH_MM), PG_LENGTH - PG_CAPTAIN_ROOM_LENGTH_MM / 2 }, 0, STRAT_DECISION_UNLOAD }, - { { BOT_SIZE_RADIUS + 60, PG_LENGTH / 2 }, + { { (PG_CAPTAIN_ROOM_WIDTH_MM + PG_HOLD_NORTH_X) / 2, + (PG_LENGTH - PG_CAPTAIN_ROOM_LENGTH_MM + PG_HOLD_NORTH_Y) / 2 - 75 }, 1500, STRAT_DECISION_UNLOAD }, - { { PG_MIRROR_X (BOT_SIZE_RADIUS + 60), PG_LENGTH / 2 }, + { { PG_MIRROR_X ((PG_CAPTAIN_ROOM_WIDTH_MM + PG_HOLD_NORTH_X) / 2), + (PG_LENGTH - PG_CAPTAIN_ROOM_LENGTH_MM + PG_HOLD_NORTH_Y) / 2 - 75 }, 1500, STRAT_DECISION_UNLOAD }, { { PG_WIDTH / 2 - PG_TOTEM_X_OFFSET_MM, PG_LENGTH / 2 + PATH_PEANUT_CLEAR_MM }, 300, STRAT_DECISION_TOTEM }, diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c index a8c4c5c3..2bc6c8e1 100644 --- a/digital/io-hub/src/guybrush/top.c +++ b/digital/io-hub/src/guybrush/top.c @@ -234,7 +234,7 @@ top_go_unload (void) if (pos.v.y > PG_LENGTH - PG_CAPTAIN_ROOM_LENGTH_MM) pos.a = PG_A_DEG (0); else - pos.a = PG_A_DEG (70); + pos.a = PG_A_DEG (45); move_start (pos, 0); } @@ -663,12 +663,12 @@ top_do_unload (void) } FSM_TRANS (TOP_UNLOAD_GOING, move_success, - hold, TOP_DECISION, + hold, TOP_UNLOAD_GOING_BACK, captain, TOP_UNLOAD_GOING_BACK) { if (top.decision_pos.y < PG_LENGTH - PG_CAPTAIN_ROOM_LENGTH_MM) { - top_do_unload (); + asserv_move_linearly (-100); return FSM_NEXT (TOP_UNLOAD_GOING, move_success, hold); } else -- cgit v1.2.3