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-rw-r--r--digital/io/src/ai_init_cb.c4
-rw-r--r--digital/io/src/ai_top_cb.c4
-rw-r--r--digital/io/src/bot.h6
3 files changed, 9 insertions, 5 deletions
diff --git a/digital/io/src/ai_init_cb.c b/digital/io/src/ai_init_cb.c
index 5e8ea937..444b867b 100644
--- a/digital/io/src/ai_init_cb.c
+++ b/digital/io/src/ai_init_cb.c
@@ -179,9 +179,7 @@ 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 / 2),
- PG_Y (PG_LENGTH - PG_START_ZONE_LENGTH / 2),
- PG_A_DEG (0), 0);
+ asserv_goto_xya (BOT_INIT_XYA, 0);
return ai_next (INIT_GO_AWAY_FROM_THE_WALL_AGAIN, bot_move_succeed);
}
diff --git a/digital/io/src/ai_top_cb.c b/digital/io/src/ai_top_cb.c
index 4f349ead..8fc1541e 100644
--- a/digital/io/src/ai_top_cb.c
+++ b/digital/io/src/ai_top_cb.c
@@ -58,7 +58,7 @@ ai__IDLE__start (void)
fsm_branch_t
ai__WAIT_INIT_TO_FINISH__init_match_is_started (void)
{
- position_t pos = PG_POSITION_DEG (825, 1253, -29);
+ position_t pos = PG_POSITION_DEG (375, 1503, -29);
move_start (pos, 0);
return ai_next (WAIT_INIT_TO_FINISH, init_match_is_started);
}
@@ -97,7 +97,7 @@ ai__GO_FAR__move_fsm_failed (void)
fsm_branch_t
ai__GO_NEAR__move_fsm_succeed (void)
{
- position_t pos = PG_POSITION_DEG (825, 1253, -29);
+ position_t pos = PG_POSITION_DEG (375, 1503, -29);
move_start (pos, 0);
loader_up ();
return ai_next (GO_NEAR, move_fsm_succeed);
diff --git a/digital/io/src/bot.h b/digital/io/src/bot.h
index 77fe686b..c3960099 100644
--- a/digital/io/src/bot.h
+++ b/digital/io/src/bot.h
@@ -53,6 +53,12 @@
* circle needed when rotating. */
#define BOT_SIZE_RADIUS 196
+/** Start position. */
+#define BOT_INIT_XYA \
+ PG_X (PG_START_ZONE_WIDTH - BOT_SIZE_RADIUS), \
+ PG_Y (PG_LENGTH - PG_START_ZONE_LENGTH + BOT_SIZE_RADIUS), \
+ PG_A_DEG (-76)
+
/**
* Distance required to be away from a border to be able to turn freely.
* In millimeter.