summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/ai_init_cb.c
diff options
context:
space:
mode:
Diffstat (limited to 'digital/io/src/ai_init_cb.c')
-rw-r--r--digital/io/src/ai_init_cb.c11
1 files changed, 5 insertions, 6 deletions
diff --git a/digital/io/src/ai_init_cb.c b/digital/io/src/ai_init_cb.c
index 1fb41b64..aa4d58df 100644
--- a/digital/io/src/ai_init_cb.c
+++ b/digital/io/src/ai_init_cb.c
@@ -109,8 +109,7 @@ ai__INIT_WAIT_FOR_HANDS_OUT__state_timeout (void)
fsm_branch_t
ai__INIT_GO_TO_THE_WALL__bot_move_succeed (void)
{
- /* We are against the border of absys Y set to PG_LENGTH. */
- asserv_set_y_position (PG_LENGTH - (BOT_LENGTH / 2));
+ asserv_set_y_position (PG_Y (PG_LENGTH - BOT_SIZE_FRONT));
return ai_next (INIT_GO_TO_THE_WALL, bot_move_succeed);
}
@@ -123,7 +122,7 @@ fsm_branch_t
ai__INIT_SET_Y_POSITION__asserv_last_cmd_ack (void)
{
/* We are facing top border. */
- asserv_set_angle_position (POSITION_A_DEG (90));
+ asserv_set_angle_position (PG_A_DEG (90));
return ai_next (INIT_SET_Y_POSITION, asserv_last_cmd_ack);
}
@@ -185,7 +184,7 @@ ai__INIT_WAIT_AFTER_ROTATION__state_timeout (void)
fsm_branch_t
ai__INIT_GO_TO_THE_WALL_AGAIN__bot_move_succeed (void)
{
- asserv_set_x_position (PG_X (BOT_LENGTH / 2));
+ asserv_set_x_position (PG_X (BOT_SIZE_FRONT));
return ai_next (INIT_GO_TO_THE_WALL_AGAIN, bot_move_succeed);
}
@@ -211,8 +210,8 @@ fsm_branch_t
ai__INIT_GO_AWAY_FROM_THE_WALL_AGAIN__bot_move_succeed (void)
{
/* Move away from the border. */
- asserv_goto_xya (PG_X (PG_START_ZONE_WIDTH - BOT_WIDTH / 2 - 50),
- PG_Y (PG_LENGTH - PG_START_ZONE_LENGTH + BOT_LENGTH / 2 + 50),
+ asserv_goto_xya (PG_X (PG_START_ZONE_WIDTH / 2),
+ PG_Y (PG_LENGTH - PG_START_ZONE_LENGTH / 2),
PG_A_DEG (0), 0);
return ai_next (INIT_GO_AWAY_FROM_THE_WALL_AGAIN, bot_move_succeed);
}