From d8ccdea2cb5315582d4129e22ae2b87c01736964 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 9 May 2013 12:15:00 +0200 Subject: digital/io-hub/src/apbirthday: cannon calibration --- digital/io-hub/src/apbirthday/cannon.cc | 1 + digital/io-hub/src/apbirthday/strat.cc | 4 ++-- 2 files changed, 3 insertions(+), 2 deletions(-) (limited to 'digital/io-hub') diff --git a/digital/io-hub/src/apbirthday/cannon.cc b/digital/io-hub/src/apbirthday/cannon.cc index 4e91d750..0ca5b246 100644 --- a/digital/io-hub/src/apbirthday/cannon.cc +++ b/digital/io-hub/src/apbirthday/cannon.cc @@ -61,6 +61,7 @@ FSM_START_WITH (CANNON_TRAP_OFF) FSM_TRANS (CANNON_TRAP_OFF, init_actuators, CANNON_TRAP_BLOCK) { + robot->pot_regul.set_wiper (1, 23); Cannon::set_servo_pos (Cannon::BLOCK); } diff --git a/digital/io-hub/src/apbirthday/strat.cc b/digital/io-hub/src/apbirthday/strat.cc index 1ba5eda7..29d6eb7d 100644 --- a/digital/io-hub/src/apbirthday/strat.cc +++ b/digital/io-hub/src/apbirthday/strat.cc @@ -184,9 +184,9 @@ Strat::decision (Position &pos) return CANDLES; case 2: if (team_color) - pos = pg_position_deg (1500, 1200, 90); + pos = (Position) { { 1462, 1256 }, G_ANGLE_UF016_DEG (90) }; else - pos = pg_position_deg (1500 - 200, 1200, 90); + pos = (Position) { { 1642, 1276 }, G_ANGLE_UF016_DEG (90) }; last_decision_ = CANNON; return CANNON; } -- cgit v1.2.3