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-rw-r--r--digital/io-hub/src/guybrush/bot.h3
-rw-r--r--digital/io-hub/src/guybrush/top.c2
2 files changed, 4 insertions, 1 deletions
diff --git a/digital/io-hub/src/guybrush/bot.h b/digital/io-hub/src/guybrush/bot.h
index 32e7ff64..5764aa59 100644
--- a/digital/io-hub/src/guybrush/bot.h
+++ b/digital/io-hub/src/guybrush/bot.h
@@ -38,6 +38,9 @@
#define BOT_SIZE_FRONT 165
/** Distance from the robot axis to the lower clamp back. */
#define BOT_SIZE_LOWER_CLAMP_FRONT 100
+/** Distance from the robot axis to the maximum occupied space when
+ * loading. */
+#define BOT_SIZE_LOADING_FRONT 275
/** Distance from the robot axis to the back. */
#define BOT_SIZE_BACK 134
/** Distance from the robot axis to the side. */
diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c
index 540d0385..82652152 100644
--- a/digital/io-hub/src/guybrush/top.c
+++ b/digital/io-hub/src/guybrush/top.c
@@ -269,7 +269,7 @@ FSM_TRANS (TOP_TOTEM_CLEAN_APPROACHING, robot_move_failure,
FSM_TRANS (TOP_TOTEM_CLEAN_CATCH_WAITING, clamps_ready,
TOP_TOTEM_CLEAN_GOING_BACK)
{
- int16_t move = top.totem_distance - BOT_SIZE_LOWER_CLAMP_FRONT - 240;
+ int16_t move = top.totem_distance - BOT_SIZE_LOADING_FRONT - 30;
top.totem_distance -= move;
asserv_move_linearly (move);
return FSM_NEXT (TOP_TOTEM_CLEAN_CATCH_WAITING, clamps_ready);