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-rw-r--r--digital/io/src/ai_top_cb.c2
-rw-r--r--digital/io/src/bot.h3
-rw-r--r--digital/io/src/top.c2
3 files changed, 4 insertions, 3 deletions
diff --git a/digital/io/src/ai_top_cb.c b/digital/io/src/ai_top_cb.c
index 0d7d25c3..8c781d8d 100644
--- a/digital/io/src/ai_top_cb.c
+++ b/digital/io/src/ai_top_cb.c
@@ -342,7 +342,6 @@ ai__COLLECT__move_fsm_failed (void)
fsm_branch_t
ai__COLLECT_SLOW_MOTION__bot_move_succeed (void)
{
- asserv_set_speed (BOT_MOVE_SLOW);
if (top_collect (0))
return ai_next_branch (COLLECT_SLOW_MOTION, bot_move_succeed, collect);
else
@@ -358,7 +357,6 @@ ai__COLLECT_SLOW_MOTION__bot_move_succeed (void)
fsm_branch_t
ai__COLLECT_SLOW_MOTION__bot_move_failed (void)
{
- asserv_set_speed (BOT_MOVE_SLOW);
if (top_collect (0))
return ai_next_branch (COLLECT_SLOW_MOTION, bot_move_failed, collect);
else
diff --git a/digital/io/src/bot.h b/digital/io/src/bot.h
index d249c8b2..fd748af0 100644
--- a/digital/io/src/bot.h
+++ b/digital/io/src/bot.h
@@ -70,6 +70,9 @@
/** Fast parameters. */
#define BOT_MOVE_FAST 0x38, 0x38, 0x20, 0x20
+/** Medium parameters. */
+#define BOT_MOVE_MEDIUM 0x30, 0x30, 0x18, 0x18
+
/** Slow parameters. */
#define BOT_MOVE_SLOW 0x20, 0x20, 0x10, 0x10
diff --git a/digital/io/src/top.c b/digital/io/src/top.c
index 2bdbf333..06364adf 100644
--- a/digital/io/src/top.c
+++ b/digital/io/src/top.c
@@ -69,7 +69,7 @@ top_collect (uint8_t force)
move_start_noangle (PG_VECT (2625, 253), 0, 0);
return 0;
}
- asserv_set_speed (BOT_MOVE_SLOW);
+ asserv_set_speed (BOT_MOVE_MEDIUM);
move_start_noangle (food_v, 0, food_shorten (top_food));
return 1;
}