From d7d47681242fea0d566cb3a46bfcf04c493311f7 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 10 Apr 2013 01:59:54 +0200 Subject: digital/io-hub/src/apbirthday: blow candles which are really near --- digital/io-hub/src/apbirthday/strat.cc | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'digital/io-hub') diff --git a/digital/io-hub/src/apbirthday/strat.cc b/digital/io-hub/src/apbirthday/strat.cc index c755af69..328c1298 100644 --- a/digital/io-hub/src/apbirthday/strat.cc +++ b/digital/io-hub/src/apbirthday/strat.cc @@ -76,6 +76,12 @@ Strat::decision_candles (CandlesDecision &decision, uint16_t robot_angle) } else { + // So near... let blow them... + if (score_forward && robot_angle > G_ANGLE_UF016_DEG (-45)) + score_forward += 100; + if (score_backward && robot_angle < G_ANGLE_UF016_DEG (180 + 45)) + score_backward += 100; + // Compare. if (score_forward > score_backward) { decision.dir_sign = 1; -- cgit v1.2.3